From 51a0f6cd5130b804b06b774d520d39cacc73a065 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Mon, 16 Nov 2020 14:07:56 +0800
Subject: [PATCH 01/64] use js typedarray constructor to create view of
 underlying buffer

---
 rosidl_gen/deallocator.js        |  6 ------
 rosidl_gen/templates/message.dot |  3 +--
 src/rcl_bindings.cpp             | 25 -------------------------
 3 files changed, 1 insertion(+), 33 deletions(-)

diff --git a/rosidl_gen/deallocator.js b/rosidl_gen/deallocator.js
index 6e7cf99c..83dce427 100644
--- a/rosidl_gen/deallocator.js
+++ b/rosidl_gen/deallocator.js
@@ -17,12 +17,6 @@
 const rclnodejs = require('bindings')('rclnodejs');
 
 let deallocator = {
-  delayFreeStructMember(refObj, type, name) {
-    return rclnodejs.createArrayBufferCleaner(
-      refObj.ref(),
-      type.fields[name].offset
-    );
-  },
   freeStructMember(refObj, type, name) {
     rclnodejs.freeMemeoryAtOffset(refObj.ref(), type.fields[name].offset);
   },
diff --git a/rosidl_gen/templates/message.dot b/rosidl_gen/templates/message.dot
index a6943adf..f4e910f2 100644
--- a/rosidl_gen/templates/message.dot
+++ b/rosidl_gen/templates/message.dot
@@ -750,8 +750,7 @@ class {{=arrayWrapper}} {
     {{? usePlainTypedArray}}
     const byteLen = refObject.size * ref.types.{{=currentTypedArrayElementType}}.size;
     // An ArrayBuffer object that doesn't hold the ownership of the address
-    const arrayBuffer = rclnodejs.createArrayBufferFromAddress(refObject.data, byteLen);
-    this._wrappers = new {{=currentTypedArray}}(arrayBuffer);
+    this._wrappers = new {{=currentTypedArray}}(refObject.data.buffer, refObject.data.byteOffset, refObject.size);
     {{?? true}}
     let refObjectArray = this._refObject.data;
     refObjectArray.length = this._refObject.size;
diff --git a/src/rcl_bindings.cpp b/src/rcl_bindings.cpp
index 66e8d12c..bd2ccbdc 100644
--- a/src/rcl_bindings.cpp
+++ b/src/rcl_bindings.cpp
@@ -1318,29 +1318,6 @@ NAN_METHOD(FreeMemeoryAtOffset) {
   info.GetReturnValue().Set(Nan::Undefined());
 }
 
-NAN_METHOD(CreateArrayBufferFromAddress) {
-  char* addr = GetBufAddr(info[0]);
-  int32_t length = Nan::To<int32_t>(info[1]).FromJust();
-
-  // We will create an ArrayBuffer with mode of
-  // ArrayBufferCreationMode::kInternalized and copy data starting from |addr|,
-  // thus the memory block will be collected by the garbage collector.
-  v8::Local<v8::ArrayBuffer> array_buffer =
-      v8::ArrayBuffer::New(v8::Isolate::GetCurrent(), addr, length,
-                           v8::ArrayBufferCreationMode::kInternalized);
-
-  info.GetReturnValue().Set(array_buffer);
-}
-
-NAN_METHOD(CreateArrayBufferCleaner) {
-  auto address = GetBufAddr(info[0]);
-  int32_t offset = Nan::To<int32_t>(info[1]).FromJust();
-
-  char* target = *reinterpret_cast<char**>(address + offset);
-  info.GetReturnValue().Set(
-      RclHandle::NewInstance(target, nullptr, [] { return RCL_RET_OK; }));
-}
-
 NAN_METHOD(setLoggerLevel) {
   v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
   std::string name(
@@ -1798,8 +1775,6 @@ std::vector<BindingMethod> binding_methods = {
     {"getNamespace", GetNamespace},
     {"initString", InitString},
     {"freeMemeoryAtOffset", FreeMemeoryAtOffset},
-    {"createArrayBufferFromAddress", CreateArrayBufferFromAddress},
-    {"createArrayBufferCleaner", CreateArrayBufferCleaner},
     {"setLoggerLevel", setLoggerLevel},
     {"getLoggerEffectiveLevel", GetLoggerEffectiveLevel},
     {"getNodeLoggerName", GetNodeLoggerName},

From f39edb26eb67557a763da894a33f8887d149e561 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Mon, 16 Nov 2020 16:33:58 +0800
Subject: [PATCH 02/64] fix leak in RclTakeRequest

---
 src/rcl_bindings.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/rcl_bindings.cpp b/src/rcl_bindings.cpp
index bd2ccbdc..5105c9b1 100644
--- a/src/rcl_bindings.cpp
+++ b/src/rcl_bindings.cpp
@@ -906,6 +906,7 @@ NAN_METHOD(RclTakeRequest) {
     return;
   }
 
+  free(header);
   info.GetReturnValue().Set(Nan::Undefined());
 }
 

From a287e2e31fd0b78ac7ea11010dbc549fd133ae15 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 17 Nov 2020 17:54:46 +0800
Subject: [PATCH 03/64] wip

---
 .prettierrc.yml                               |    4 +
 binding.gyp                                   |  139 +-
 package-lock.json                             | 4607 +++++++++++++++++
 rosidl_gen/idl_generator.js                   |  167 +-
 rosidl_gen/index.js                           |   43 +-
 rosidl_gen/templates/cppDefinitions.dot       |  111 +
 rosidl_gen/templates/cppDefinitionsHeader.dot |   35 +
 rosidl_gen/templates/message.dot              |    3 +-
 rosidl_gen/templates/typesupportGypi.dot      |   12 +
 scripts/generate_messages.js                  |    2 +-
 src/rcl_bindings.cpp                          |   25 +
 src/type_conversion.hpp                       |   67 +
 12 files changed, 5144 insertions(+), 71 deletions(-)
 create mode 100644 .prettierrc.yml
 create mode 100644 package-lock.json
 create mode 100644 rosidl_gen/templates/cppDefinitions.dot
 create mode 100644 rosidl_gen/templates/cppDefinitionsHeader.dot
 create mode 100644 rosidl_gen/templates/typesupportGypi.dot
 create mode 100644 src/type_conversion.hpp

diff --git a/.prettierrc.yml b/.prettierrc.yml
new file mode 100644
index 00000000..0b9ecd4e
--- /dev/null
+++ b/.prettierrc.yml
@@ -0,0 +1,4 @@
+{
+  singleQuote: true,
+  trailingComma: es5,
+}
diff --git a/binding.gyp b/binding.gyp
index 54f69ec7..fe69e337 100644
--- a/binding.gyp
+++ b/binding.gyp
@@ -10,6 +10,82 @@
   'variables': {
     'ros_version': '<!(node scripts/ros_distro.js)'
   },
+  'target_defaults': {
+    'include_dirs': [
+      "<!(node -e \"require('nan')\")",
+    ],
+    'cflags!': [
+        '-fno-exceptions'
+    ],
+    'cflags': [
+      '-fstack-protector-strong',
+      '-fPIE -fPIC',
+      '-O2 -D_FORTIFY_SOURCE=2',
+      '-Wformat -Wformat-security'
+    ],
+    'cflags_cc!': [
+      '-fno-exceptions'
+    ],
+    'conditions': [
+      [
+        'OS=="linux"', {
+          'defines': [
+            'OS_LINUX'
+          ],
+          'cflags_cc': [
+            '-std=c++14'
+          ],
+          'include_dirs': [
+            "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/ ') + '/include/')\")",
+          ],
+          'library_dirs': [
+            "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/lib/ ') + '/lib/')\")",
+          ],
+        },
+      ],
+      [
+        'OS=="win"', {
+          'defines': [
+            'OS_WINDOWS'
+          ],
+          'cflags_cc': [
+            '-std=c++14'
+          ],
+          'include_dirs': [
+            "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '\\\include ').replace(/\\\/g, '/') + '/include')\")",
+          ],
+          'msvs_settings': {
+            'VCCLCompilerTool': {
+              'ExceptionHandling': '2', # /EHsc
+            },
+            'VCLinkerTool': {
+              'AdditionalDependencies': ['psapi.lib'],
+              'AdditionalLibraryDirectories': ["<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '\\\lib ').replace(/\\\/g, '/') + '/lib')\")",],
+            }
+          }
+        },
+      ],
+      [
+        'OS=="mac"', {
+          'defines': [
+            'OS_MACOS'
+          ],
+          'include_dirs': [
+            "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/ ') + '/include/')\")",
+          ],
+          'library_dirs': [
+              "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/lib/ ') + '/lib/')\")",
+          ],
+          'xcode_settings': {
+            'GCC_ENABLE_CPP_EXCEPTIONS': 'YES',
+            'CLANG_CXX_LIBRARY': 'libc++',
+            'MACOS_DEPLOYMENT_TARGET': '10.12',
+            'CLANG_CXX_LANGUAGE_STANDARD': 'c++14'
+          },
+        },
+      ],
+    ],
+  },
   'targets': [
     {
       'target_name': 'rclnodejs',
@@ -23,22 +99,10 @@
         './src/rcl_lifecycle_bindings.cpp',
         './src/rcl_utilities.cpp',
         './src/shadow_node.cpp',
+        './src/type_conversion.hpp',
       ],
       'include_dirs': [
         '.',
-        "<!(node -e \"require('nan')\")",
-      ],
-      'cflags!': [
-        '-fno-exceptions'
-      ],
-      'cflags': [
-        '-fstack-protector-strong',
-        '-fPIE -fPIC',
-        '-O2 -D_FORTIFY_SOURCE=2',
-        '-Wformat -Wformat-security'
-      ],
-      'cflags_cc!': [
-        '-fno-exceptions'
       ],
       'libraries': [
         '-lrcl',
@@ -53,44 +117,12 @@
         'ROS_VERSION=<(ros_version)'
       ],
       'conditions': [
-        [
-          'OS=="linux"', {
-            'defines': [
-              'OS_LINUX'
-            ],
-            'cflags_cc': [
-              '-std=c++14'
-            ],
-            'include_dirs': [
-              "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/ ') + '/include/')\")",
-            ],
-            'library_dirs': [
-              "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/lib/ ') + '/lib/')\")",
-            ],
-          }
-        ],
         [
           'OS=="win"',
           {
-            'defines': [
-              'OS_WINDOWS'
-            ],
-            'cflags_cc': [
-              '-std=c++14'
-            ],
             'include_dirs': [
               './src/third_party/dlfcn-win32/',
-              "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '\\\include ').replace(/\\\/g, '/') + '/include')\")",
             ],
-            'msvs_settings': {
-              'VCCLCompilerTool': {
-                'ExceptionHandling': '2', # /EHsc
-              },
-              'VCLinkerTool': {
-                'AdditionalDependencies': ['psapi.lib'],
-                'AdditionalLibraryDirectories': ["<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '\\\lib ').replace(/\\\/g, '/') + '/lib')\")",],
-              }
-            }
           }
         ],
         [
@@ -99,18 +131,6 @@
             'defines': [
               'OS_MACOS'
             ],
-            'include_dirs': [
-              "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/ ') + '/include/')\")",
-            ],
-            'library_dirs': [
-                "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/lib/ ') + '/lib/')\")",
-            ],
-            'xcode_settings': {
-              'GCC_ENABLE_CPP_EXCEPTIONS': 'YES',
-              'CLANG_CXX_LIBRARY': 'libc++',
-              'MACOS_DEPLOYMENT_TARGET': '10.12',
-              'CLANG_CXX_LANGUAGE_STANDARD': 'c++14'
-            }
           }
         ],
         [
@@ -126,5 +146,8 @@
         ]
       ]
     }
-  ]
+  ],
+  'includes': [
+    'src/generated/typesupport.gypi',
+  ],
 }
diff --git a/package-lock.json b/package-lock.json
new file mode 100644
index 00000000..bd06aa69
--- /dev/null
+++ b/package-lock.json
@@ -0,0 +1,4607 @@
+{
+  "name": "rclnodejs",
+  "version": "0.16.0",
+  "lockfileVersion": 1,
+  "requires": true,
+  "dependencies": {
+    "@babel/code-frame": {
+      "version": "7.10.4",
+      "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.10.4.tgz",
+      "integrity": "sha512-vG6SvB6oYEhvgisZNFRmRCUkLz11c7rp+tbNTynGqc6mS1d5ATd/sGyV6W0KZZnXRKMTzZDRgQT3Ou9jhpAfUg==",
+      "dev": true,
+      "requires": {
+        "@babel/highlight": "^7.10.4"
+      }
+    },
+    "@babel/helper-validator-identifier": {
+      "version": "7.10.4",
+      "resolved": "https://registry.npmjs.org/@babel/helper-validator-identifier/-/helper-validator-identifier-7.10.4.tgz",
+      "integrity": "sha512-3U9y+43hz7ZM+rzG24Qe2mufW5KhvFg/NhnNph+i9mgCtdTCtMJuI1TMkrIUiK7Ix4PYlRF9I5dhqaLYA/ADXw==",
+      "dev": true
+    },
+    "@babel/highlight": {
+      "version": "7.10.4",
+      "resolved": "https://registry.npmjs.org/@babel/highlight/-/highlight-7.10.4.tgz",
+      "integrity": "sha512-i6rgnR/YgPEQzZZnbTHHuZdlE8qyoBNalD6F+q4vAFlcMEcqmkoG+mPqJYJCo63qPf74+Y1UZsl3l6f7/RIkmA==",
+      "dev": true,
+      "requires": {
+        "@babel/helper-validator-identifier": "^7.10.4",
+        "chalk": "^2.0.0",
+        "js-tokens": "^4.0.0"
+      },
+      "dependencies": {
+        "js-tokens": {
+          "version": "4.0.0",
+          "resolved": "https://registry.npmjs.org/js-tokens/-/js-tokens-4.0.0.tgz",
+          "integrity": "sha512-RdJUflcE3cUzKiMqQgsCu06FPu9UdIJO0beYbPhHN4k6apgJtifcoCtT9bcxOpYBtpD2kCM6Sbzg4CausW/PKQ==",
+          "dev": true
+        }
+      }
+    },
+    "@definitelytyped/header-parser": {
+      "version": "0.0.57",
+      "resolved": "https://registry.npmjs.org/@definitelytyped/header-parser/-/header-parser-0.0.57.tgz",
+      "integrity": "sha512-0CNcUUANv93072vleKkXKT8xUNk9JLhaHVMZbBYP/km55T+V8eGCP6BS0pS80MPhvZouq2FmR/r8B5jlR+MQ8w==",
+      "dev": true,
+      "requires": {
+        "@definitelytyped/typescript-versions": "^0.0.57",
+        "@types/parsimmon": "^1.10.1",
+        "parsimmon": "^1.13.0"
+      }
+    },
+    "@definitelytyped/typescript-versions": {
+      "version": "0.0.57",
+      "resolved": "https://registry.npmjs.org/@definitelytyped/typescript-versions/-/typescript-versions-0.0.57.tgz",
+      "integrity": "sha512-PpA1dLjH//4fvZ6P5RVR10n+it0lBp/so3dgSAHdFmtHU42kPFc2TlwIYSDL0P5DcNVYViAwIvIIVbYF9hbD+Q==",
+      "dev": true
+    },
+    "@definitelytyped/utils": {
+      "version": "0.0.57",
+      "resolved": "https://registry.npmjs.org/@definitelytyped/utils/-/utils-0.0.57.tgz",
+      "integrity": "sha512-YEIxwB2Im0GQ0lapCpoW+m3XeQqctf0aueuVbm2lNESZCVMgLXVSFaTIquhgKcp/KW+HzVldwH7RyEnbTZiWQw==",
+      "dev": true,
+      "requires": {
+        "@definitelytyped/typescript-versions": "^0.0.57",
+        "@types/node": "^12.12.29",
+        "charm": "^1.0.2",
+        "fs-extra": "^8.1.0",
+        "fstream": "^1.0.12",
+        "npm-registry-client": "^8.6.0",
+        "tar": "^2.2.2",
+        "tar-stream": "1.6.2"
+      },
+      "dependencies": {
+        "fs-extra": {
+          "version": "8.1.0",
+          "resolved": "https://registry.npmjs.org/fs-extra/-/fs-extra-8.1.0.tgz",
+          "integrity": "sha512-yhlQgA6mnOJUKOsRUFsgJdQCvkKhcz8tlZG5HBQfReYZy46OwLcY+Zia0mtdHsOo9y/hP+CxMN0TU9QxoOtG4g==",
+          "dev": true,
+          "requires": {
+            "graceful-fs": "^4.2.0",
+            "jsonfile": "^4.0.0",
+            "universalify": "^0.1.0"
+          }
+        },
+        "jsonfile": {
+          "version": "4.0.0",
+          "resolved": "https://registry.npmjs.org/jsonfile/-/jsonfile-4.0.0.tgz",
+          "integrity": "sha1-h3Gq4HmbZAdrdmQPygWPnBDjPss=",
+          "dev": true,
+          "requires": {
+            "graceful-fs": "^4.1.6"
+          }
+        },
+        "universalify": {
+          "version": "0.1.2",
+          "resolved": "https://registry.npmjs.org/universalify/-/universalify-0.1.2.tgz",
+          "integrity": "sha512-rBJeI5CXAlmy1pV+617WB9J63U6XcazHHF2f2dbJix4XzpUF0RS3Zbj0FGIOCAva5P/d/GBOYaACQ1w+0azUkg==",
+          "dev": true
+        }
+      }
+    },
+    "@eslint/eslintrc": {
+      "version": "0.1.3",
+      "resolved": "https://registry.npmjs.org/@eslint/eslintrc/-/eslintrc-0.1.3.tgz",
+      "integrity": "sha512-4YVwPkANLeNtRjMekzux1ci8hIaH5eGKktGqR0d3LWsKNn5B2X/1Z6Trxy7jQXl9EBGE6Yj02O+t09FMeRllaA==",
+      "dev": true,
+      "requires": {
+        "ajv": "^6.12.4",
+        "debug": "^4.1.1",
+        "espree": "^7.3.0",
+        "globals": "^12.1.0",
+        "ignore": "^4.0.6",
+        "import-fresh": "^3.2.1",
+        "js-yaml": "^3.13.1",
+        "lodash": "^4.17.19",
+        "minimatch": "^3.0.4",
+        "strip-json-comments": "^3.1.1"
+      },
+      "dependencies": {
+        "strip-json-comments": {
+          "version": "3.1.1",
+          "resolved": "https://registry.npmjs.org/strip-json-comments/-/strip-json-comments-3.1.1.tgz",
+          "integrity": "sha512-6fPc+R4ihwqP6N/aIv2f1gMH8lOVtWQHoqC4yK6oSDVVocumAsfCqjkXnqiYMhmMwS/mEHLp7Vehlt3ql6lEig==",
+          "dev": true
+        }
+      }
+    },
+    "@nodelib/fs.scandir": {
+      "version": "2.1.3",
+      "resolved": "https://registry.npmjs.org/@nodelib/fs.scandir/-/fs.scandir-2.1.3.tgz",
+      "integrity": "sha512-eGmwYQn3gxo4r7jdQnkrrN6bY478C3P+a/y72IJukF8LjB6ZHeB3c+Ehacj3sYeSmUXGlnA67/PmbM9CVwL7Dw==",
+      "dev": true,
+      "requires": {
+        "@nodelib/fs.stat": "2.0.3",
+        "run-parallel": "^1.1.9"
+      }
+    },
+    "@nodelib/fs.stat": {
+      "version": "2.0.3",
+      "resolved": "https://registry.npmjs.org/@nodelib/fs.stat/-/fs.stat-2.0.3.tgz",
+      "integrity": "sha512-bQBFruR2TAwoevBEd/NWMoAAtNGzTRgdrqnYCc7dhzfoNvqPzLyqlEQnzZ3kVnNrSp25iyxE00/3h2fqGAGArA==",
+      "dev": true
+    },
+    "@nodelib/fs.walk": {
+      "version": "1.2.4",
+      "resolved": "https://registry.npmjs.org/@nodelib/fs.walk/-/fs.walk-1.2.4.tgz",
+      "integrity": "sha512-1V9XOY4rDW0rehzbrcqAmHnz8e7SKvX27gh8Gt2WgB0+pdzdiLV83p72kZPU+jvMbS1qU5mauP2iOvO8rhmurQ==",
+      "dev": true,
+      "requires": {
+        "@nodelib/fs.scandir": "2.1.3",
+        "fastq": "^1.6.0"
+      }
+    },
+    "@sinonjs/commons": {
+      "version": "1.8.1",
+      "resolved": "https://registry.npmjs.org/@sinonjs/commons/-/commons-1.8.1.tgz",
+      "integrity": "sha512-892K+kWUUi3cl+LlqEWIDrhvLgdL79tECi8JZUyq6IviKy/DNhuzCRlbHUjxK89f4ypPMMaFnFuR9Ie6DoIMsw==",
+      "dev": true,
+      "requires": {
+        "type-detect": "4.0.8"
+      }
+    },
+    "@sinonjs/fake-timers": {
+      "version": "6.0.1",
+      "resolved": "https://registry.npmjs.org/@sinonjs/fake-timers/-/fake-timers-6.0.1.tgz",
+      "integrity": "sha512-MZPUxrmFubI36XS1DI3qmI0YdN1gks62JtFZvxR67ljjSNCeK6U08Zx4msEWOXuofgqUt6zPHSi1H9fbjR/NRA==",
+      "dev": true,
+      "requires": {
+        "@sinonjs/commons": "^1.7.0"
+      }
+    },
+    "@sinonjs/formatio": {
+      "version": "5.0.1",
+      "resolved": "https://registry.npmjs.org/@sinonjs/formatio/-/formatio-5.0.1.tgz",
+      "integrity": "sha512-KaiQ5pBf1MpS09MuA0kp6KBQt2JUOQycqVG1NZXvzeaXe5LGFqAKueIS0bw4w0P9r7KuBSVdUk5QjXsUdu2CxQ==",
+      "dev": true,
+      "requires": {
+        "@sinonjs/commons": "^1",
+        "@sinonjs/samsam": "^5.0.2"
+      }
+    },
+    "@sinonjs/samsam": {
+      "version": "5.1.0",
+      "resolved": "https://registry.npmjs.org/@sinonjs/samsam/-/samsam-5.1.0.tgz",
+      "integrity": "sha512-42nyaQOVunX5Pm6GRJobmzbS7iLI+fhERITnETXzzwDZh+TtDr/Au3yAvXVjFmZ4wEUaE4Y3NFZfKv0bV0cbtg==",
+      "dev": true,
+      "requires": {
+        "@sinonjs/commons": "^1.6.0",
+        "lodash.get": "^4.4.2",
+        "type-detect": "^4.0.8"
+      }
+    },
+    "@sinonjs/text-encoding": {
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+        "decamelize": "^1.2.0",
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+        "get-caller-file": "^2.0.1",
+        "require-directory": "^2.1.1",
+        "require-main-filename": "^2.0.0",
+        "set-blocking": "^2.0.0",
+        "string-width": "^4.2.0",
+        "which-module": "^2.0.0",
+        "y18n": "^4.0.0",
+        "yargs-parser": "^18.1.2"
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+          }
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+            "wrap-ansi": "^5.1.0"
+          }
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+          "requires": {
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+            "is-fullwidth-code-point": "^2.0.0",
+            "strip-ansi": "^5.1.0"
+          }
+        },
+        "strip-ansi": {
+          "version": "5.2.0",
+          "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-5.2.0.tgz",
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+          "dev": true,
+          "requires": {
+            "ansi-regex": "^4.1.0"
+          }
+        },
+        "wrap-ansi": {
+          "version": "5.1.0",
+          "resolved": "https://registry.npmjs.org/wrap-ansi/-/wrap-ansi-5.1.0.tgz",
+          "integrity": "sha512-QC1/iN/2/RPVJ5jYK8BGttj5z83LmSKmvbvrXPNCLZSEb32KKVDJDl/MOt2N01qU2H/FkzEa9PKto1BqDjtd7Q==",
+          "dev": true,
+          "requires": {
+            "ansi-styles": "^3.2.0",
+            "string-width": "^3.0.0",
+            "strip-ansi": "^5.0.0"
+          }
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+          "version": "14.2.3",
+          "resolved": "https://registry.npmjs.org/yargs/-/yargs-14.2.3.tgz",
+          "integrity": "sha512-ZbotRWhF+lkjijC/VhmOT9wSgyBQ7+zr13+YLkhfsSiTriYsMzkTUFP18pFhWwBeMa5gUc1MzbhrO6/VB7c9Xg==",
+          "dev": true,
+          "requires": {
+            "cliui": "^5.0.0",
+            "decamelize": "^1.2.0",
+            "find-up": "^3.0.0",
+            "get-caller-file": "^2.0.1",
+            "require-directory": "^2.1.1",
+            "require-main-filename": "^2.0.0",
+            "set-blocking": "^2.0.0",
+            "string-width": "^3.0.0",
+            "which-module": "^2.0.0",
+            "y18n": "^4.0.0",
+            "yargs-parser": "^15.0.1"
+          }
+        },
+        "yargs-parser": {
+          "version": "15.0.1",
+          "resolved": "https://registry.npmjs.org/yargs-parser/-/yargs-parser-15.0.1.tgz",
+          "integrity": "sha512-0OAMV2mAZQrs3FkNpDQcBk1x5HXb8X4twADss4S0Iuk+2dGnLOE/fRHrsYm542GduMveyA77OF4wrNJuanRCWw==",
+          "dev": true,
+          "requires": {
+            "camelcase": "^5.0.0",
+            "decamelize": "^1.2.0"
+          }
+        }
+      }
+    }
+  }
+}
diff --git a/rosidl_gen/idl_generator.js b/rosidl_gen/idl_generator.js
index 0bb7abab..a588e00f 100644
--- a/rosidl_gen/idl_generator.js
+++ b/rosidl_gen/idl_generator.js
@@ -15,17 +15,78 @@
 'use strict';
 
 const dot = require('dot');
+const fs = require('fs').promises;
 const fse = require('fs-extra');
 const path = require('path');
 const parser = require('../rosidl_parser/rosidl_parser.js');
 const actionMsgs = require('./action_msgs.js');
 
+class RosIdlDb {
+  constructor(pkgs) {
+    this.specDb = {};
+    this.messageInfoIndex = {};
+    for (let pkg of pkgs.values()) {
+      pkg.messages.forEach((messageInfo) => {
+        this.messageInfoIndex[
+          `${messageInfo.pkgName}__${messageInfo.interfaceName}`
+        ] = messageInfo;
+      });
+    }
+  }
+
+  getMessageInfoFromType(type) {
+    return this.messageInfoIndex[`${type.pkgName}__${type.type}`];
+  }
+
+  _messageInfoHash(messageInfo) {
+    return `${messageInfo.pkgName}__${messageInfo.interfaceName}`;
+  }
+
+  async getMessageSpec(messageInfo) {
+    let spec = this.specDb[this._messageInfoHash(messageInfo)];
+    if (spec) {
+      return spec;
+    }
+    const promise = new Promise(async (res) => {
+      const spec = await parser.parseMessageFile(
+        messageInfo.pkgName,
+        messageInfo.filePath
+      );
+      this.specDb[this._messageInfoHash(messageInfo)] = spec;
+      res(spec);
+    });
+    this.specDb[this._messageInfoHash(messageInfo)] = promise;
+    return promise;
+  }
+
+  // _getDependentPackagesImpl(pkg)
+
+  // getDependentPackages(pkg) {
+  //   pkg.messages.forEach((messageInfo) => {
+
+  //   })
+  // }
+}
+
 dot.templateSettings.strip = false;
 dot.log = process.env.RCLNODEJS_LOG_VERBOSE || false;
 const dots = dot.process({
   path: path.join(__dirname, '../rosidl_gen/templates'),
 });
 
+function pascalToSnakeCase(s) {
+  return s
+    .split(/(?=[A-Z])/)
+    .join('_')
+    .toLowerCase();
+}
+
+function getRosHeaderField(messageInfo) {
+  return `${messageInfo.pkgName}/${messageInfo.subFolder}/${pascalToSnakeCase(
+    messageInfo.interfaceName
+  )}.h`;
+}
+
 function removeEmptyLines(str) {
   return str.replace(/^\s*\n/gm, '');
 }
@@ -50,11 +111,8 @@ function generateServiceJSStruct(serviceInfo, dir) {
   return writeGeneratedCode(dir, fileName, generatedCode);
 }
 
-async function generateMessageJSStruct(messageInfo, dir) {
-  const spec = await parser.parseMessageFile(
-    messageInfo.pkgName,
-    messageInfo.filePath
-  );
+async function generateMessageJSStruct(messageInfo, dir, rosIdlDb) {
+  const spec = await rosIdlDb.getMessageSpec(messageInfo);
   await generateMessageJSStructFromSpec(messageInfo, dir, spec);
 }
 
@@ -78,6 +136,86 @@ function generateMessageJSStructFromSpec(messageInfo, dir, spec) {
   return writeGeneratedCode(dir, fileName, generatedCode);
 }
 
+function getCppSourcePath(pkgName) {
+  return path.join('src', 'generated', pkgName, 'definitions.cpp');
+}
+
+function getCppHeaderPath(pkgName) {
+  return path.join('src', 'generated', pkgName, 'definitions.hpp');
+}
+
+function getJsType(rosType) {
+  if (rosType.isArray) {
+    return 'object';
+  }
+  if (rosType.type === 'int64' || rosType.type === 'uint64') {
+    return 'bigint';
+  } else if (
+    rosType.type.startsWith('int') ||
+    rosType.type.startsWith('uint') ||
+    rosType.type.startsWith('float') ||
+    rosType.type === 'double' ||
+    rosType.type === 'byte' ||
+    rosType.type === 'char'
+  ) {
+    return 'number';
+  } else if (rosType.type === 'string') {
+    return 'string';
+  } else if (rosType.type === 'bool') {
+    return 'boolean';
+  }
+  return 'object';
+}
+
+// All messages are combined in one cpp file to improve compile time.
+async function generateCppDefinitions(pkgName, pkgInfo, rosIdlDb) {
+  // console.log(messageInfo);
+  // console.log(spec);
+  // console.log(spec.fields);
+
+  const getStructType = (messageInfo) => {
+    return `${messageInfo.pkgName}__${messageInfo.subFolder}__${messageInfo.interfaceName}`;
+  };
+
+  const getStructTypeFromRosType = (type) => {
+    const messageInfo = rosIdlDb.getMessageInfoFromType(type);
+    return getStructType(messageInfo);
+  };
+
+  const messages = [];
+
+  // this is slower but doing it sequentially maintains ordering
+  for (let messageInfo of pkgInfo.messages) {
+    messages.push({
+      info: messageInfo,
+      spec: await rosIdlDb.getMessageSpec(messageInfo),
+      structType: getStructType(messageInfo),
+    });
+  }
+
+  const source = removeEmptyLines(
+    dots.cppDefinitions({
+      messages,
+      rosIdlDb,
+      getRosHeaderField,
+      getStructTypeFromRosType,
+      getJsType,
+    })
+  );
+
+  const header = removeEmptyLines(
+    dots.cppDefinitionsHeader({
+      messages,
+      rosIdlDb,
+      getRosHeaderField,
+      getStructTypeFromRosType,
+    })
+  );
+
+  await fs.writeFile(getCppSourcePath(pkgName), source);
+  await fs.writeFile(getCppHeaderPath(pkgName), header);
+}
+
 async function generateActionJSStruct(actionInfo, dir) {
   const spec = await parser.parseActionFile(
     actionInfo.pkgName,
@@ -230,10 +368,10 @@ async function generateActionJSStruct(actionInfo, dir) {
   ]);
 }
 
-async function generateJSStructFromIDL(pkg, dir) {
+async function generateJSStructFromIDL(pkg, dir, rosIdlDb) {
   await Promise.all([
     ...pkg.messages.map((messageInfo) =>
-      generateMessageJSStruct(messageInfo, dir)
+      generateMessageJSStruct(messageInfo, dir, rosIdlDb)
     ),
     ...pkg.services.map((serviceInfo) =>
       generateServiceJSStruct(serviceInfo, dir)
@@ -242,4 +380,17 @@ async function generateJSStructFromIDL(pkg, dir) {
   ]);
 }
 
-module.exports = generateJSStructFromIDL;
+async function generateTypesupportGypi(pkgs) {
+  const rendered = removeEmptyLines(dots.typesupportGypi({ pkgs }));
+  await fs.writeFile(
+    path.join('src', 'generated', 'typesupport.gypi'),
+    rendered
+  );
+}
+
+module.exports = {
+  RosIdlDb,
+  generateJSStructFromIDL,
+  generateCppDefinitions,
+  generateTypesupportGypi,
+};
diff --git a/rosidl_gen/index.js b/rosidl_gen/index.js
index bab0b6cb..54b41667 100644
--- a/rosidl_gen/index.js
+++ b/rosidl_gen/index.js
@@ -15,7 +15,12 @@
 'use strict';
 
 const fse = require('fs-extra');
-const generateJSStructFromIDL = require('./idl_generator.js');
+const {
+  RosIdlDb,
+  generateJSStructFromIDL,
+  generateCppDefinitions,
+  generateTypesupportGypi,
+} = require('./idl_generator.js');
 const packages = require('./packages.js');
 const path = require('path');
 
@@ -25,11 +30,43 @@ const installedPackagePaths = process.env.AMENT_PREFIX_PATH.split(
 );
 
 async function generateInPath(path) {
-  const pkgs = await packages.findPackagesInDirectory(path);
+  const results = [];
+  // const pkgs = await packages.findPackagesInDirectory(path);
+  const pkgs = new Map();
+  pkgs.set('test_msgs', {
+    pkgName: 'test_msgs',
+    messages: [
+      {
+        interfaceName: 'Nested',
+        subFolder: 'msg',
+        filePath: '/opt/ros/foxy/share/test_msgs/msg/Nested.msg',
+      },
+      {
+        interfaceName: 'BasicTypes',
+        subFolder: 'msg',
+        filePath: '/opt/ros/foxy/share/test_msgs/msg/BasicTypes.msg',
+      },
+    ],
+    services: [],
+    actions: [],
+  });
+
+  const rosIdlDb = new RosIdlDb(pkgs);
+
   const pkgsInfo = Array.from(pkgs.values());
+  const pkgsEntries = Array.from(pkgs.entries());
+
+  await Promise.all(
+    pkgsInfo.map((pkgInfo) =>
+      generateJSStructFromIDL(pkgInfo, generatedRoot, rosIdlDb)
+    )
+  );
   await Promise.all(
-    pkgsInfo.map((pkgInfo) => generateJSStructFromIDL(pkgInfo, generatedRoot))
+    pkgsEntries.map(([pkgName, pkgInfo]) =>
+      generateCppDefinitions(pkgName, pkgInfo, rosIdlDb)
+    )
   );
+  await generateTypesupportGypi(pkgsInfo);
 }
 
 async function generateAll(forcedGenerating) {
diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
new file mode 100644
index 00000000..2ce7948e
--- /dev/null
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -0,0 +1,111 @@
+// This file is automatically generated by rclnodejs
+//
+// *** DO NOT EDIT directly
+//
+
+#include "definitions.hpp"
+#include "../../type_conversion.hpp"
+
+{{~ it.messages : message }}
+#include <{{=it.getRosHeaderField(message.info)}}>
+{{~}}
+
+namespace rclnodejs {
+
+{{~ it.messages : message }}
+NAN_MODULE_INIT(rclnodejs__{{=message.structType}}::Init) {
+  auto obj = Nan::New<v8::Object>();
+  obj->Set(Nan::New("create").ToLocalChecked(), Nan::New(rclnodejs__{{=message.structType}}::Create));
+  obj->Set(Nan::New("from").ToLocalChecked(), Nan::New(rclnodejs__{{=message.structType}}::FromJsObject));
+  obj->Set(Nan::New("to").ToLocalChecked(), Nan::New(rclnodejs__{{=message.structType}}::ToJsObject));
+  Nan::Set(target, Nan::New("{{=message.structType}}").ToLocalChecked(), obj);
+}
+
+void rclnodejs__{{=message.structType}}::WriteMessage(v8::Local<v8::Object> jsObj, {{=message.structType}}* msg) {
+{{~ message.spec.fields : field}}
+  auto {{=field.name}} = jsObj->Get(Nan::New("{{=field.name}}").ToLocalChecked());
+{{
+  const jsType = it.getJsType(field.type);
+}}
+{{? jsType === 'number'}}
+  if (!{{=field.name}}->IsNumber()) {
+    throw new std::runtime_error("expected {{=field.name}} to be number");
+  }
+{{?? jsType === 'string'}}
+  if (!{{=field.name}}->IsString()) {
+    throw new std::runtime_error("expected {{=field.name}} to be string");
+  }
+{{?? jsType === 'boolean'}}
+  if (!{{=field.name}}->IsBoolean()) {
+    throw new std::runtime_error("expected {{=field.name}} to be boolean");
+  }
+{{?? jsType === 'bigint'}}
+  if (!{{=field.name}}->IsBigInt()) {
+    throw new std::runtime_error("expected {{=field.name}} to be bigint");
+  }
+{{??}}
+  if (!{{=field.name}}->IsObject()) {
+    throw new std::runtime_error("expected {{=field.name}} to be {{=field.type.type}} object");
+  }
+{{?}}
+{{? field.type.isPrimitiveType && !field.type.isArray}}
+  msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>({{=field.name}});
+{{?? !field.type.isPrimitiveType}}
+  rclnodejs__{{=it.getStructTypeFromRosType(field.type)}}::WriteMessage(Nan::To<v8::Object>({{=field.name}}).ToLocalChecked(), &msg->{{=field.name}});
+{{??}}
+  // TODO: handle array types
+{{?}}
+{{~}}
+}
+
+v8::Local<v8::Object> rclnodejs__{{=message.structType}}::MakeJsObject({{=message.structType}}* msg) {
+  auto jsObj = Nan::New<v8::Object>();
+{{~ message.spec.fields : field}}
+{{? !field.type.isArray}}
+{{? field.type.isPrimitiveType}}
+  jsObj->Set(Nan::New("{{=field.name}}").ToLocalChecked(), ToJsChecked(msg->{{=field.name}}));
+{{??}}
+  jsObj->Set(Nan::New("{{=field.name}}").ToLocalChecked(), rclnodejs__{{=it.getStructTypeFromRosType(field.type)}}::MakeJsObject(&msg->{{=field.name}}));
+{{?}}
+{{??}}
+  // TODO: handle array
+{{?}}
+{{~}}
+  return jsObj;
+}
+
+NAN_METHOD(rclnodejs__{{=message.structType}}::Create) {
+  auto* data = {{=message.structType}}__create();
+  auto buffer = Nan::NewBuffer(reinterpret_cast<char*>(data), sizeof(*data), [](auto* data, auto) {
+    {{=message.structType}}__destroy(reinterpret_cast<{{=message.structType}}*>(data));
+  }, nullptr).ToLocalChecked();
+  info.GetReturnValue().Set(buffer);
+}
+
+NAN_METHOD(rclnodejs__{{=message.structType}}::FromJsObject) {
+  auto jsObj = Nan::To<v8::Object>(info[0]).ToLocalChecked();
+  auto* msg = {{=message.structType}}__create();
+
+  try {
+    rclnodejs__{{=message.structType}}::WriteMessage(jsObj, msg);
+  } catch (const std::runtime_error& e) {
+    Nan::ThrowError(Nan::New(e.what()).ToLocalChecked());
+    info.GetReturnValue().Set(Nan::Undefined());
+    return;
+  }
+
+  auto buffer = Nan::NewBuffer(reinterpret_cast<char*>(msg), sizeof(*msg), [](auto* msg, auto) {
+    {{=message.structType}}__destroy(reinterpret_cast<{{=message.structType}}*>(msg));
+  }, nullptr).ToLocalChecked();
+  info.GetReturnValue().Set(buffer);
+}
+
+NAN_METHOD(rclnodejs__{{=message.structType}}::ToJsObject) {
+  auto* buffer = node::Buffer::Data(info[0]);
+  auto* msg = reinterpret_cast<{{=message.structType}}*>(buffer);
+  info.GetReturnValue().Set(rclnodejs__{{=message.structType}}::MakeJsObject(msg));
+}
+
+{{~}}
+
+} // namespace rclnodejs
diff --git a/rosidl_gen/templates/cppDefinitionsHeader.dot b/rosidl_gen/templates/cppDefinitionsHeader.dot
new file mode 100644
index 00000000..2e6ec676
--- /dev/null
+++ b/rosidl_gen/templates/cppDefinitionsHeader.dot
@@ -0,0 +1,35 @@
+// This file is automatically generated by rclnodejs
+//
+// *** DO NOT EDIT directly
+//
+
+#include <nan.h>
+
+{{~ it.messages : message}}
+struct {{=message.structType}};
+{{~}}
+
+namespace rclnodejs {
+
+{{~ it.messages : message }}
+class rclnodejs__{{=message.structType}} {
+ public:
+  static NAN_MODULE_INIT(Init);
+
+  static void WriteMessage(v8::Local<v8::Object> jsObj, {{=message.structType}}* msg);
+
+  /**
+   * Must be called within a v8 scope
+   */
+  static v8::Local<v8::Object> MakeJsObject({{=message.structType}}* msg);
+
+ private:
+  static NAN_METHOD(Create);
+
+  static NAN_METHOD(FromJsObject);
+
+  static NAN_METHOD(ToJsObject);
+};
+{{~}}
+
+} // namespace rclnodejs
diff --git a/rosidl_gen/templates/message.dot b/rosidl_gen/templates/message.dot
index f4e910f2..a6943adf 100644
--- a/rosidl_gen/templates/message.dot
+++ b/rosidl_gen/templates/message.dot
@@ -750,7 +750,8 @@ class {{=arrayWrapper}} {
     {{? usePlainTypedArray}}
     const byteLen = refObject.size * ref.types.{{=currentTypedArrayElementType}}.size;
     // An ArrayBuffer object that doesn't hold the ownership of the address
-    this._wrappers = new {{=currentTypedArray}}(refObject.data.buffer, refObject.data.byteOffset, refObject.size);
+    const arrayBuffer = rclnodejs.createArrayBufferFromAddress(refObject.data, byteLen);
+    this._wrappers = new {{=currentTypedArray}}(arrayBuffer);
     {{?? true}}
     let refObjectArray = this._refObject.data;
     refObjectArray.length = this._refObject.size;
diff --git a/rosidl_gen/templates/typesupportGypi.dot b/rosidl_gen/templates/typesupportGypi.dot
new file mode 100644
index 00000000..37bd3efa
--- /dev/null
+++ b/rosidl_gen/templates/typesupportGypi.dot
@@ -0,0 +1,12 @@
+{
+  'targets': [
+{{~ it.pkgs : pkg}}
+    {
+      'target_name': '{{=pkg.pkgName}}',
+      'sources': [
+        '{{=pkg.pkgName}}/definitions.cpp',
+      ],
+    },
+{{~}}
+  ],
+}
diff --git a/scripts/generate_messages.js b/scripts/generate_messages.js
index 3e1e7e4a..45756336 100644
--- a/scripts/generate_messages.js
+++ b/scripts/generate_messages.js
@@ -23,7 +23,7 @@ async function main() {
 
   try {
     await generator.generateAll(true);
-    await tsdGenerator.generateAll(); // create interfaces.d.ts
+    // await tsdGenerator.generateAll(); // create interfaces.d.ts
     console.log('Generation complete.');
   } catch (e) {
     console.log(`Caught error: ${e}`);
diff --git a/src/rcl_bindings.cpp b/src/rcl_bindings.cpp
index 5a02b722..3cd75926 100644
--- a/src/rcl_bindings.cpp
+++ b/src/rcl_bindings.cpp
@@ -1275,6 +1275,29 @@ NAN_METHOD(FreeMemeoryAtOffset) {
   info.GetReturnValue().Set(Nan::Undefined());
 }
 
+NAN_METHOD(CreateArrayBufferFromAddress) {
+  char* addr = GetBufAddr(info[0]);
+  int32_t length = Nan::To<int32_t>(info[1]).FromJust();
+
+  // We will create an ArrayBuffer with mode of
+  // ArrayBufferCreationMode::kInternalized and copy data starting from |addr|,
+  // thus the memory block will be collected by the garbage collector.
+  v8::Local<v8::ArrayBuffer> array_buffer =
+      v8::ArrayBuffer::New(v8::Isolate::GetCurrent(), addr, length,
+                           v8::ArrayBufferCreationMode::kInternalized);
+
+  info.GetReturnValue().Set(array_buffer);
+}
+
+NAN_METHOD(CreateArrayBufferCleaner) {
+  auto address = GetBufAddr(info[0]);
+  int32_t offset = Nan::To<int32_t>(info[1]).FromJust();
+
+  char* target = *reinterpret_cast<char**>(address + offset);
+  info.GetReturnValue().Set(
+      RclHandle::NewInstance(target, nullptr, [] { return RCL_RET_OK; }));
+}
+
 NAN_METHOD(setLoggerLevel) {
   v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
   std::string name(
@@ -1732,6 +1755,8 @@ std::vector<BindingMethod> binding_methods = {
     {"getNamespace", GetNamespace},
     {"initString", InitString},
     {"freeMemeoryAtOffset", FreeMemeoryAtOffset},
+    {"createArrayBufferFromAddress", CreateArrayBufferFromAddress},
+    {"createArrayBufferCleaner", CreateArrayBufferCleaner},
     {"setLoggerLevel", setLoggerLevel},
     {"getLoggerEffectiveLevel", GetLoggerEffectiveLevel},
     {"getNodeLoggerName", GetNodeLoggerName},
diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
new file mode 100644
index 00000000..c55d8495
--- /dev/null
+++ b/src/type_conversion.hpp
@@ -0,0 +1,67 @@
+#ifndef RCLNODEJS_TYPE_CONVERSION_HPP_
+#define RCLNODEJS_TYPE_CONVERSION_HPP_
+
+#include <nan.h>
+
+namespace rclnodejs {
+
+template <typename T>
+inline T ToNativeChecked(v8::Local<v8::Value> val) {
+  return Nan::To<T>(std::move(val)).ToChecked();
+}
+
+template <>
+inline int8_t ToNativeChecked<int8_t>(v8::Local<v8::Value> val) {
+  return Nan::To<int32_t>(std::move(val)).ToChecked();
+}
+
+template <>
+inline uint8_t ToNativeChecked<uint8_t>(v8::Local<v8::Value> val) {
+  return Nan::To<int32_t>(std::move(val)).ToChecked();
+}
+
+template <>
+inline int16_t ToNativeChecked<int16_t>(v8::Local<v8::Value> val) {
+  return Nan::To<int32_t>(std::move(val)).ToChecked();
+}
+
+template <>
+inline uint16_t ToNativeChecked<uint16_t>(v8::Local<v8::Value> val) {
+  return Nan::To<int32_t>(std::move(val)).ToChecked();
+}
+
+template <>
+inline int64_t ToNativeChecked<int64_t>(v8::Local<v8::Value> val) {
+  return val->ToBigInt(Nan::GetCurrentContext()).ToLocalChecked()->Int64Value();
+}
+
+template <>
+inline uint64_t ToNativeChecked<uint64_t>(v8::Local<v8::Value> val) {
+  return val->ToBigInt(Nan::GetCurrentContext())
+      .ToLocalChecked()
+      ->Uint64Value();
+}
+
+template <>
+inline float ToNativeChecked<float>(v8::Local<v8::Value> val) {
+  return Nan::To<double>(std::move(val)).ToChecked();
+}
+
+template <typename T>
+inline v8::Local<v8::Value> ToJsChecked(T val) {
+  return Nan::New(val);
+}
+
+template <>
+inline v8::Local<v8::Value> ToJsChecked<int64_t>(int64_t val) {
+  return v8::BigInt::New(Nan::GetCurrentContext()->GetIsolate(), val);
+}
+
+template <>
+inline v8::Local<v8::Value> ToJsChecked<uint64_t>(uint64_t val) {
+  return v8::BigInt::NewFromUnsigned(Nan::GetCurrentContext()->GetIsolate(), val);
+}
+
+}  // namespace rclnodejs
+
+#endif

From 0c56585b315525b6e3706c118b0da7f879fa9179 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Wed, 2 Dec 2020 09:16:08 +0800
Subject: [PATCH 04/64] library linking problem

---
 lib/node.js                                   | 235 +++++++++++++-----
 rosidl_gen/idl_generator.js                   | 109 ++++++--
 rosidl_gen/index.js                           |  42 ++--
 rosidl_gen/templates/cppDefinitions.dot       |  78 +++---
 rosidl_gen/templates/cppDefinitionsHeader.dot |   5 +
 rosidl_gen/templates/typesupportGypi.dot      |   3 +
 src/type_conversion.hpp                       |  41 ++-
 7 files changed, 376 insertions(+), 137 deletions(-)

diff --git a/lib/node.js b/lib/node.js
index 78960ea3..7daf0717 100644
--- a/lib/node.js
+++ b/lib/node.js
@@ -23,7 +23,11 @@ const GuardCondition = require('./guard_condition.js');
 const loader = require('./interface_loader.js');
 const Logging = require('./logging.js');
 const NodeOptions = require('./node_options.js');
-const { ParameterType, Parameter, ParameterDescriptor } = require('./parameter.js');
+const {
+  ParameterType,
+  Parameter,
+  ParameterDescriptor,
+} = require('./parameter.js');
 const ParameterService = require('./parameter_service.js');
 const Publisher = require('./publisher.js');
 const QoS = require('./qos.js');
@@ -74,7 +78,9 @@ class Node {
     if (options.parameterOverrides.length > 0) {
       for (const parameter of options.parameterOverrides) {
         if (!parameter instanceof Parameter) {
-          throw new TypeError('Parameter-override must be an instance of Parameter.');
+          throw new TypeError(
+            'Parameter-override must be an instance of Parameter.'
+          );
         }
         this._parameterOverrides.set(parameter.name, parameter);
       }
@@ -104,13 +110,21 @@ class Node {
   }
 
   execute(handles) {
-    let timersReady = this._timers.filter((timer) => handles.indexOf(timer.handle) !== -1);
-    let guardsReady = this._guards.filter((guard) => handles.indexOf(guard.handle) !== -1);
+    let timersReady = this._timers.filter(
+      (timer) => handles.indexOf(timer.handle) !== -1
+    );
+    let guardsReady = this._guards.filter(
+      (guard) => handles.indexOf(guard.handle) !== -1
+    );
     let subscriptionsReady = this._subscriptions.filter(
       (subscription) => handles.indexOf(subscription.handle) !== -1
     );
-    let clientsReady = this._clients.filter((client) => handles.indexOf(client.handle) !== -1);
-    let servicesReady = this._services.filter((service) => handles.indexOf(service.handle) !== -1);
+    let clientsReady = this._clients.filter(
+      (client) => handles.indexOf(client.handle) !== -1
+    );
+    let servicesReady = this._services.filter(
+      (service) => handles.indexOf(service.handle) !== -1
+    );
     let actionClientsReady = this._actionClients.filter(
       (actionClient) => handles.indexOf(actionClient.handle) !== -1
     );
@@ -133,12 +147,15 @@ class Node {
         }
         return;
       }
-      this._runWithMessageType(subscription.typeClass, (message, deserialize) => {
-        let success = rclnodejs.rclTake(subscription.handle, message);
-        if (success) {
-          subscription.processResponse(deserialize());
+      this._runWithMessageType(
+        subscription.typeClass,
+        (message, deserialize) => {
+          let success = rclnodejs.rclTake(subscription.handle, message);
+          if (success) {
+            subscription.processResponse(deserialize());
+          }
         }
-      });
+      );
     });
 
     guardsReady.forEach((guard) => {
@@ -146,21 +163,35 @@ class Node {
     });
 
     clientsReady.forEach((client) => {
-      this._runWithMessageType(client.typeClass.Response, (message, deserialize) => {
-        let success = rclnodejs.rclTakeResponse(client.handle, client.sequenceNumber, message);
-        if (success) {
-          client.processResponse(deserialize());
+      this._runWithMessageType(
+        client.typeClass.Response,
+        (message, deserialize) => {
+          let success = rclnodejs.rclTakeResponse(
+            client.handle,
+            client.sequenceNumber,
+            message
+          );
+          if (success) {
+            client.processResponse(deserialize());
+          }
         }
-      });
+      );
     });
 
     servicesReady.forEach((service) => {
-      this._runWithMessageType(service.typeClass.Request, (message, deserialize) => {
-        let header = rclnodejs.rclTakeRequest(service.handle, this.handle, message);
-        if (header) {
-          service.processRequest(header, deserialize());
+      this._runWithMessageType(
+        service.typeClass.Request,
+        (message, deserialize) => {
+          let header = rclnodejs.rclTakeRequest(
+            service.handle,
+            this.handle,
+            message
+          );
+          if (header) {
+            service.processRequest(header, deserialize());
+          }
         }
-      });
+      );
     });
 
     actionClientsReady.forEach((actionClient) => {
@@ -170,7 +201,10 @@ class Node {
         this._runWithMessageType(
           actionClient.typeClass.impl.SendGoalService.Response,
           (message, deserialize) => {
-            let sequence = rclnodejs.actionTakeGoalResponse(actionClient.handle, message);
+            let sequence = rclnodejs.actionTakeGoalResponse(
+              actionClient.handle,
+              message
+            );
             if (sequence != null) {
               actionClient.processGoalResponse(sequence, deserialize());
             }
@@ -182,7 +216,10 @@ class Node {
         this._runWithMessageType(
           actionClient.typeClass.impl.CancelGoal.Response,
           (message, deserialize) => {
-            let sequence = rclnodejs.actionTakeCancelResponse(actionClient.handle, message);
+            let sequence = rclnodejs.actionTakeCancelResponse(
+              actionClient.handle,
+              message
+            );
             if (sequence != null) {
               actionClient.processCancelResponse(sequence, deserialize());
             }
@@ -194,7 +231,10 @@ class Node {
         this._runWithMessageType(
           actionClient.typeClass.impl.GetResultService.Response,
           (message, deserialize) => {
-            let sequence = rclnodejs.actionTakeResultResponse(actionClient.handle, message);
+            let sequence = rclnodejs.actionTakeResultResponse(
+              actionClient.handle,
+              message
+            );
             if (sequence != null) {
               actionClient.processResultResponse(sequence, deserialize());
             }
@@ -206,7 +246,10 @@ class Node {
         this._runWithMessageType(
           actionClient.typeClass.impl.FeedbackMessage,
           (message, deserialize) => {
-            let success = rclnodejs.actionTakeFeedback(actionClient.handle, message);
+            let success = rclnodejs.actionTakeFeedback(
+              actionClient.handle,
+              message
+            );
             if (success) {
               actionClient.processFeedbackMessage(deserialize());
             }
@@ -218,7 +261,10 @@ class Node {
         this._runWithMessageType(
           actionClient.typeClass.impl.GoalStatusArray,
           (message, deserialize) => {
-            let success = rclnodejs.actionTakeStatus(actionClient.handle, message);
+            let success = rclnodejs.actionTakeStatus(
+              actionClient.handle,
+              message
+            );
             if (success) {
               actionClient.processStatusMessage(deserialize());
             }
@@ -234,7 +280,10 @@ class Node {
         this._runWithMessageType(
           actionServer.typeClass.impl.SendGoalService.Request,
           (message, deserialize) => {
-            const result = rclnodejs.actionTakeGoalRequest(actionServer.handle, message);
+            const result = rclnodejs.actionTakeGoalRequest(
+              actionServer.handle,
+              message
+            );
             if (result) {
               actionServer.processGoalRequest(result, deserialize());
             }
@@ -246,7 +295,10 @@ class Node {
         this._runWithMessageType(
           actionServer.typeClass.impl.CancelGoal.Request,
           (message, deserialize) => {
-            const result = rclnodejs.actionTakeCancelRequest(actionServer.handle, message);
+            const result = rclnodejs.actionTakeCancelRequest(
+              actionServer.handle,
+              message
+            );
             if (result) {
               actionServer.processCancelRequest(result, deserialize());
             }
@@ -258,7 +310,10 @@ class Node {
         this._runWithMessageType(
           actionServer.typeClass.impl.GetResultService.Request,
           (message, deserialize) => {
-            const result = rclnodejs.actionTakeResultRequest(actionServer.handle, message);
+            const result = rclnodejs.actionTakeResultRequest(
+              actionServer.handle,
+              message
+            );
             if (result) {
               actionServer.processResultRequest(result, deserialize());
             }
@@ -308,7 +363,10 @@ class Node {
   }
 
   _validateOptions(options) {
-    if (options !== undefined && (options === null || typeof options !== 'object')) {
+    if (
+      options !== undefined &&
+      (options === null || typeof options !== 'object')
+    ) {
       throw new TypeError('Invalid argument of options');
     }
 
@@ -360,13 +418,20 @@ class Node {
     const MAX_TIMER_PERIOD_IN_MILLISECOND = 0x10c6f7a0b5ed;
     if (period > 0x10c6f7a0b5ed || period < 0) {
       throw new RangeError(
-        'Parameter must be between ' + 0 + ' and ' + MAX_TIMER_PERIOD_IN_MILLISECOND
+        'Parameter must be between ' +
+          0 +
+          ' and ' +
+          MAX_TIMER_PERIOD_IN_MILLISECOND
       );
     }
 
     const timerClock = clock || this._clock;
 
-    let timerHandle = rclnodejs.createTimer(timerClock.handle, this.context.handle, period);
+    let timerHandle = rclnodejs.createTimer(
+      timerClock.handle,
+      this.context.handle,
+      period
+    );
     let timer = new Timer(timerHandle, period, callback);
     debug('Finish creating timer, period = %d.', period);
     this._timers.push(timer);
@@ -388,7 +453,9 @@ class Node {
 
     const MAX_RATE_HZ_IN_MILLISECOND = 1000.0;
     if (hz <= 0.0 || hz > MAX_RATE_HZ_IN_MILLISECOND) {
-      throw new RangeError(`Hz must be between 0.0 and ${MAX_RATE_HZ_IN_MILLISECOND}`);
+      throw new RangeError(
+        `Hz must be between 0.0 and ${MAX_RATE_HZ_IN_MILLISECOND}`
+      );
     }
 
     // lazy initialize rateTimerServer
@@ -518,7 +585,12 @@ class Node {
       throw new TypeError('Invalid argument');
     }
 
-    let client = Client.createClient(this.handle, serviceName, typeClass, options);
+    let client = Client.createClient(
+      this.handle,
+      serviceName,
+      typeClass,
+      options
+    );
     debug('Finish creating client, service = %s.', serviceName);
     this._clients.push(client);
     this.syncHandles();
@@ -754,7 +826,12 @@ class Node {
    * @return {array} - An array of the names and types.
    */
   getPublisherNamesAndTypesByNode(nodeName, namespace, noDemangle = false) {
-    return rclnodejs.getPublisherNamesAndTypesByNode(this.handle, nodeName, namespace, noDemangle);
+    return rclnodejs.getPublisherNamesAndTypesByNode(
+      this.handle,
+      nodeName,
+      namespace,
+      noDemangle
+    );
   }
 
   /**
@@ -780,7 +857,11 @@ class Node {
    * @return {array} - An array of the names and types.
    */
   getServiceNamesAndTypesByNode(nodeName, namespace) {
-    return rclnodejs.getServiceNamesAndTypesByNode(this.handle, nodeName, namespace);
+    return rclnodejs.getServiceNamesAndTypesByNode(
+      this.handle,
+      nodeName,
+      namespace
+    );
   }
 
   /**
@@ -822,7 +903,11 @@ class Node {
    * @returns {number} - Number of publishers on the given topic.
    */
   countPublishers(topic) {
-    let expandedTopic = rclnodejs.expandTopicName(topic, this.name(), this.namespace());
+    let expandedTopic = rclnodejs.expandTopicName(
+      topic,
+      this.name(),
+      this.namespace()
+    );
     rclnodejs.validateTopicName(expandedTopic);
 
     return rclnodejs.countPublishers(this.handle, expandedTopic);
@@ -834,7 +919,11 @@ class Node {
    * @returns {number} - Number of subscribers on the given topic.
    */
   countSubscribers(topic) {
-    let expandedTopic = rclnodejs.expandTopicName(topic, this.name(), this.namespace());
+    let expandedTopic = rclnodejs.expandTopicName(
+      topic,
+      this.name(),
+      this.namespace()
+    );
     rclnodejs.validateTopicName(expandedTopic);
 
     return rclnodejs.countSubscribers(this.handle, expandedTopic);
@@ -915,10 +1004,14 @@ class Node {
       throw new TypeError('Invalid parameter: expected array of Parameter');
     }
     if (!Array.isArray(descriptors)) {
-      throw new TypeError('Invalid parameters: expected array of ParameterDescriptor');
+      throw new TypeError(
+        'Invalid parameters: expected array of ParameterDescriptor'
+      );
     }
     if (descriptors.length > 0 && parameters.length !== descriptors.length) {
-      throw new TypeError('Each parameter must have a cooresponding ParameterDescriptor');
+      throw new TypeError(
+        'Each parameter must have a cooresponding ParameterDescriptor'
+      );
     }
 
     const declaredDescriptors = [];
@@ -938,7 +1031,9 @@ class Node {
 
       // create descriptor for parameter if not provided
       let descriptor =
-        descriptors.length > 0 ? descriptors[i] : ParameterDescriptor.fromParameter(parameter);
+        descriptors.length > 0
+          ? descriptors[i]
+          : ParameterDescriptor.fromParameter(parameter);
 
       descriptor.validate();
 
@@ -984,7 +1079,9 @@ class Node {
 
     const descriptor = this.getParameterDescriptor(name);
     if (descriptor.readOnly) {
-      throw new Error(`${name} parameter is read-only and can not be undeclared`);
+      throw new Error(
+        `${name} parameter is read-only and can not be undeclared`
+      );
     }
 
     this._parameters.delete(name);
@@ -1105,7 +1202,10 @@ class Node {
     for (const name of names) {
       let descriptor = this._parameterDescriptors.get(name);
       if (!descriptor) {
-        descriptor = new ParameterDescriptor(name, ParameterType.PARAMETER_NOT_SET);
+        descriptor = new ParameterDescriptor(
+          name,
+          ParameterType.PARAMETER_NOT_SET
+        );
       }
       descriptors.push(descriptor);
     }
@@ -1147,7 +1247,9 @@ class Node {
    * @return {rclnodejs.rcl_interfaces.msg.SetParameterResult[]} - A list of SetParameterResult, one for each parameter that was set.
    */
   setParameters(parameters = []) {
-    return parameters.map((parameter) => this.setParametersAtomically([parameter]));
+    return parameters.map((parameter) =>
+      this.setParametersAtomically([parameter])
+    );
   }
 
   /**
@@ -1225,7 +1327,9 @@ class Node {
     }
 
     // create ParameterEvent
-    const parameterEvent = new (loader.loadInterface(PARAMETER_EVENT_MSG_TYPE))();
+    const parameterEvent = new (loader.loadInterface(
+      PARAMETER_EVENT_MSG_TYPE
+    ))();
 
     const secondsAndNanos = this._clock.now().secondsAndNanoseconds;
     parameterEvent.stamp = {
@@ -1244,14 +1348,14 @@ class Node {
       );
     }
     if (changedParameters.length > 0) {
-      parameterEvent['changed_parameters'] = changedParameters.map((parameter) =>
-        parameter.toParameterMessage()
-      );
+      parameterEvent[
+        'changed_parameters'
+      ] = changedParameters.map((parameter) => parameter.toParameterMessage());
     }
     if (deletedParameters.length > 0) {
-      parameterEvent['deleted_parameters'] = deletedParameters.map((parameter) =>
-        parameter.toParameterMessage()
-      );
+      parameterEvent[
+        'deleted_parameters'
+      ] = deletedParameters.map((parameter) => parameter.toParameterMessage());
     }
 
     // publish ParameterEvent
@@ -1366,7 +1470,9 @@ class Node {
     //     type: uint
     //     value: object
     // }
-    const cliParamOverrideData = rclnodejs.getParameterOverrides(context.handle);
+    const cliParamOverrideData = rclnodejs.getParameterOverrides(
+      context.handle
+    );
 
     // convert native CLI parameterOverrides to Map<nodeName,Array<ParameterOverride>>
     const cliParamOverrides = new Map();
@@ -1375,7 +1481,11 @@ class Node {
         const nodeName = nodeParamData.name;
         const nodeParamOverrides = [];
         for (let paramData of nodeParamData.parameters) {
-          const paramOverride = new Parameter(paramData.name, paramData.type, paramData.value);
+          const paramOverride = new Parameter(
+            paramData.name,
+            paramData.type,
+            paramData.value
+          );
           nodeParamOverrides.push(paramOverride);
         }
         cliParamOverrides.set(nodeName, nodeParamOverrides);
@@ -1410,16 +1520,21 @@ class Node {
    * @returns {undefined}
    */
   _runWithMessageType(Type, callback) {
-    let message = new Type();
+    if (process.env.RCLNODEJS_USE_ROS_SERIALIZATION) {
+      let message = Type.create();
+      callback(message, () => Type.ToJsObject(message));
+    } else {
+      let message = new Type();
 
-    callback(message.toRawROS(), () => {
-      let result = new Type();
-      result.deserialize(message.refObject);
+      callback(message.toRawROS(), () => {
+        let result = new Type();
+        result.deserialize(message.refObject);
 
-      return result;
-    });
+        return result;
+      });
 
-    Type.destoryRawROS(message);
+      Type.destoryRawROS(message);
+    }
   }
 
   _addActionClient(actionClient) {
diff --git a/rosidl_gen/idl_generator.js b/rosidl_gen/idl_generator.js
index a588e00f..6ceacf72 100644
--- a/rosidl_gen/idl_generator.js
+++ b/rosidl_gen/idl_generator.js
@@ -23,8 +23,10 @@ const actionMsgs = require('./action_msgs.js');
 
 class RosIdlDb {
   constructor(pkgs) {
-    this.specDb = {};
+    this.pkgIndex = pkgs;
+    this.specIndex = {};
     this.messageInfoIndex = {};
+    this.dependentPackagesIndex = {};
     for (let pkg of pkgs.values()) {
       pkg.messages.forEach((messageInfo) => {
         this.messageInfoIndex[
@@ -38,12 +40,35 @@ class RosIdlDb {
     return this.messageInfoIndex[`${type.pkgName}__${type.type}`];
   }
 
+  async getDependentMessages(pkgName) {
+    let dependentPackages = this.dependentPackagesIndex[pkgName];
+    if (dependentPackages === undefined) {
+      this.dependentPackagesIndex[pkgName] = new Promise(async (res) => {
+        const set = new Set();
+        const pkgInfo = this.pkgIndex.get(pkgName);
+        for (let messageInfo of pkgInfo.messages) {
+          const spec = await this.getMessageSpec(messageInfo);
+          spec.fields.forEach((field) => {
+            if (field.type.pkgName && field.type.pkgName !== pkgName) {
+              // `this.getMessageInfoFromType` must always return the
+              // same object for the same type for this to work
+              set.add(this.getMessageInfoFromType(field.type));
+            }
+          });
+        }
+        res(Array.from(set.values()));
+      });
+      return this.dependentPackagesIndex[pkgName];
+    }
+    return dependentPackages;
+  }
+
   _messageInfoHash(messageInfo) {
     return `${messageInfo.pkgName}__${messageInfo.interfaceName}`;
   }
 
   async getMessageSpec(messageInfo) {
-    let spec = this.specDb[this._messageInfoHash(messageInfo)];
+    let spec = this.specIndex[this._messageInfoHash(messageInfo)];
     if (spec) {
       return spec;
     }
@@ -52,10 +77,10 @@ class RosIdlDb {
         messageInfo.pkgName,
         messageInfo.filePath
       );
-      this.specDb[this._messageInfoHash(messageInfo)] = spec;
+      this.specIndex[this._messageInfoHash(messageInfo)] = spec;
       res(spec);
     });
-    this.specDb[this._messageInfoHash(messageInfo)] = promise;
+    this.specIndex[this._messageInfoHash(messageInfo)] = promise;
     return promise;
   }
 
@@ -75,10 +100,9 @@ const dots = dot.process({
 });
 
 function pascalToSnakeCase(s) {
-  return s
-    .split(/(?=[A-Z])/)
-    .join('_')
-    .toLowerCase();
+  let result = s.replace(/(.)([A-Z][a-z]+)/g, '$1_$2');
+  result = result.replace(/([a-z0-9])([A-Z])/g, '$1_$2');
+  return result.toLowerCase();
 }
 
 function getRosHeaderField(messageInfo) {
@@ -136,12 +160,8 @@ function generateMessageJSStructFromSpec(messageInfo, dir, spec) {
   return writeGeneratedCode(dir, fileName, generatedCode);
 }
 
-function getCppSourcePath(pkgName) {
-  return path.join('src', 'generated', pkgName, 'definitions.cpp');
-}
-
-function getCppHeaderPath(pkgName) {
-  return path.join('src', 'generated', pkgName, 'definitions.hpp');
+function getCppOutputDir(pkgName) {
+  return path.join('src', 'generated', pkgName);
 }
 
 function getJsType(rosType) {
@@ -167,12 +187,19 @@ function getJsType(rosType) {
   return 'object';
 }
 
+function isServiceMessage(messageInfo) {
+  return (
+    messageInfo.interfaceName.endsWith('_Request') ||
+    messageInfo.interfaceName.endsWith('_Response')
+  );
+}
+
+function isInternalField(field) {
+  return field.name.startsWith('_');
+}
+
 // All messages are combined in one cpp file to improve compile time.
 async function generateCppDefinitions(pkgName, pkgInfo, rosIdlDb) {
-  // console.log(messageInfo);
-  // console.log(spec);
-  // console.log(spec.fields);
-
   const getStructType = (messageInfo) => {
     return `${messageInfo.pkgName}__${messageInfo.subFolder}__${messageInfo.interfaceName}`;
   };
@@ -186,34 +213,51 @@ async function generateCppDefinitions(pkgName, pkgInfo, rosIdlDb) {
 
   // this is slower but doing it sequentially maintains ordering
   for (let messageInfo of pkgInfo.messages) {
-    messages.push({
-      info: messageInfo,
-      spec: await rosIdlDb.getMessageSpec(messageInfo),
-      structType: getStructType(messageInfo),
-    });
+    if (!isServiceMessage(messageInfo)) {
+      messages.push({
+        info: messageInfo,
+        spec: await rosIdlDb.getMessageSpec(messageInfo),
+        structType: getStructType(messageInfo),
+      });
+    }
   }
 
+  const dependentMessages = await rosIdlDb.getDependentMessages(pkgName);
+
   const source = removeEmptyLines(
     dots.cppDefinitions({
+      pkgName,
+      pkgInfo,
       messages,
+      dependentMessages,
       rosIdlDb,
+      getStructType,
       getRosHeaderField,
       getStructTypeFromRosType,
       getJsType,
+      isInternalField,
     })
   );
 
   const header = removeEmptyLines(
     dots.cppDefinitionsHeader({
+      pkgName,
+      pkgInfo,
       messages,
+      dependentMessages,
       rosIdlDb,
+      getStructType,
       getRosHeaderField,
       getStructTypeFromRosType,
+      getJsType,
+      isInternalField,
     })
   );
 
-  await fs.writeFile(getCppSourcePath(pkgName), source);
-  await fs.writeFile(getCppHeaderPath(pkgName), header);
+  const outputDir = getCppOutputDir(pkgName);
+  await fs.mkdir(outputDir, { recursive: true });
+  await fs.writeFile(path.join(outputDir, 'definitions.cpp'), source);
+  await fs.writeFile(path.join(outputDir, 'definitions.hpp'), header);
 }
 
 async function generateActionJSStruct(actionInfo, dir) {
@@ -380,8 +424,19 @@ async function generateJSStructFromIDL(pkg, dir, rosIdlDb) {
   ]);
 }
 
-async function generateTypesupportGypi(pkgs) {
-  const rendered = removeEmptyLines(dots.typesupportGypi({ pkgs }));
+async function generateTypesupportGypi(pkgsEntries) {
+  const pkgs = [];
+  for (let [pkgName, pkgInfo] of pkgsEntries) {
+    if (await fs.stat())
+  }
+  const rendered = removeEmptyLines(
+    dots.typesupportGypi({
+      pkgs: pkgsEntries.map(([pkgName, pkgInfo]) => ({
+        pkgName,
+        pkgInfo,
+      })),
+    })
+  );
   await fs.writeFile(
     path.join('src', 'generated', 'typesupport.gypi'),
     rendered
diff --git a/rosidl_gen/index.js b/rosidl_gen/index.js
index 54b41667..29d4b7e9 100644
--- a/rosidl_gen/index.js
+++ b/rosidl_gen/index.js
@@ -30,26 +30,26 @@ const installedPackagePaths = process.env.AMENT_PREFIX_PATH.split(
 );
 
 async function generateInPath(path) {
-  const results = [];
-  // const pkgs = await packages.findPackagesInDirectory(path);
-  const pkgs = new Map();
-  pkgs.set('test_msgs', {
-    pkgName: 'test_msgs',
-    messages: [
-      {
-        interfaceName: 'Nested',
-        subFolder: 'msg',
-        filePath: '/opt/ros/foxy/share/test_msgs/msg/Nested.msg',
-      },
-      {
-        interfaceName: 'BasicTypes',
-        subFolder: 'msg',
-        filePath: '/opt/ros/foxy/share/test_msgs/msg/BasicTypes.msg',
-      },
-    ],
-    services: [],
-    actions: [],
-  });
+  const pkgs = await packages.findPackagesInDirectory(path);
+  // const pkgs = new Map();
+  // pkgs.set('test_msgs', {
+  //   messages: [
+  //     {
+  //       pkgName: 'test_msgs',
+  //       interfaceName: 'Nested',
+  //       subFolder: 'msg',
+  //       filePath: '/opt/ros/foxy/share/test_msgs/msg/Nested.msg',
+  //     },
+  //     {
+  //       pkgName: 'test_msgs',
+  //       interfaceName: 'BasicTypes',
+  //       subFolder: 'msg',
+  //       filePath: '/opt/ros/foxy/share/test_msgs/msg/BasicTypes.msg',
+  //     },
+  //   ],
+  //   services: [],
+  //   actions: [],
+  // });
 
   const rosIdlDb = new RosIdlDb(pkgs);
 
@@ -66,7 +66,7 @@ async function generateInPath(path) {
       generateCppDefinitions(pkgName, pkgInfo, rosIdlDb)
     )
   );
-  await generateTypesupportGypi(pkgsInfo);
+  await generateTypesupportGypi(pkgsEntries);
 }
 
 async function generateAll(forcedGenerating) {
diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index 2ce7948e..f7bff807 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -6,54 +6,68 @@
 #include "definitions.hpp"
 #include "../../type_conversion.hpp"
 
-{{~ it.messages : message }}
+{{~ it.dependentMessages : messageInfo}}
+#include "../{{=messageInfo.pkgName}}/definitions.hpp"
+{{~}}
+
+{{~ it.messages : message}}
 #include <{{=it.getRosHeaderField(message.info)}}>
 {{~}}
+{{~ it.dependentMessages : messageInfo}}
+struct {{=it.getStructType(messageInfo)}};
+{{~}}
 
 namespace rclnodejs {
 
-{{~ it.messages : message }}
+{{~ it.messages : message}}
 NAN_MODULE_INIT(rclnodejs__{{=message.structType}}::Init) {
   auto obj = Nan::New<v8::Object>();
-  obj->Set(Nan::New("create").ToLocalChecked(), Nan::New(rclnodejs__{{=message.structType}}::Create));
-  obj->Set(Nan::New("from").ToLocalChecked(), Nan::New(rclnodejs__{{=message.structType}}::FromJsObject));
-  obj->Set(Nan::New("to").ToLocalChecked(), Nan::New(rclnodejs__{{=message.structType}}::ToJsObject));
-  Nan::Set(target, Nan::New("{{=message.structType}}").ToLocalChecked(), obj);
+  obj->Set(Nan::New("create").ToLocalChecked(), Nan::New<v8::Function>(rclnodejs__{{=message.structType}}::Create));
+  obj->Set(Nan::New("from").ToLocalChecked(), Nan::New<v8::Function>(rclnodejs__{{=message.structType}}::FromJsObject));
+  obj->Set(Nan::New("to").ToLocalChecked(), Nan::New<v8::Function>(rclnodejs__{{=message.structType}}::ToJsObject));
+  Nan::Set(target, Nan::New("{{=message.info.interfaceName}}").ToLocalChecked(), obj);
 }
 
 void rclnodejs__{{=message.structType}}::WriteMessage(v8::Local<v8::Object> jsObj, {{=message.structType}}* msg) {
 {{~ message.spec.fields : field}}
-  auto {{=field.name}} = jsObj->Get(Nan::New("{{=field.name}}").ToLocalChecked());
+{{? !it.isInternalField(field)}}
+  {
+    // end with underscore so it doesn't conflicts with field names
+    auto js_value_ = jsObj->Get(Nan::New("{{=field.name}}").ToLocalChecked());
 {{
-  const jsType = it.getJsType(field.type);
+    const jsType = it.getJsType(field.type);
 }}
 {{? jsType === 'number'}}
-  if (!{{=field.name}}->IsNumber()) {
-    throw new std::runtime_error("expected {{=field.name}} to be number");
-  }
+    if (!js_value_->IsNumber()) {
+      throw new std::runtime_error("expected {{=field.name}} to be number");
+    }
 {{?? jsType === 'string'}}
-  if (!{{=field.name}}->IsString()) {
-    throw new std::runtime_error("expected {{=field.name}} to be string");
-  }
+    if (!js_value_->IsString()) {
+      throw new std::runtime_error("expected {{=field.name}} to be string");
+    }
 {{?? jsType === 'boolean'}}
-  if (!{{=field.name}}->IsBoolean()) {
-    throw new std::runtime_error("expected {{=field.name}} to be boolean");
-  }
+    if (!js_value_->IsBoolean()) {
+      throw new std::runtime_error("expected {{=field.name}} to be boolean");
+    }
 {{?? jsType === 'bigint'}}
-  if (!{{=field.name}}->IsBigInt()) {
-    throw new std::runtime_error("expected {{=field.name}} to be bigint");
-  }
+    if (!js_value_->IsBigInt()) {
+      throw new std::runtime_error("expected {{=field.name}} to be bigint");
+    }
 {{??}}
-  if (!{{=field.name}}->IsObject()) {
-    throw new std::runtime_error("expected {{=field.name}} to be {{=field.type.type}} object");
-  }
+    if (!js_value_->IsObject()) {
+      throw new std::runtime_error("expected {{=field.name}} to be {{=field.type.type}} object");
+    }
+{{?}}
+{{? !field.type.isArray}}
+{{? field.type.isPrimitiveType}}
+    msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value_);
+{{??}}
+    rclnodejs__{{=it.getStructTypeFromRosType(field.type)}}::WriteMessage(Nan::To<v8::Object>(js_value_).ToLocalChecked(), &msg->{{=field.name}});
 {{?}}
-{{? field.type.isPrimitiveType && !field.type.isArray}}
-  msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>({{=field.name}});
-{{?? !field.type.isPrimitiveType}}
-  rclnodejs__{{=it.getStructTypeFromRosType(field.type)}}::WriteMessage(Nan::To<v8::Object>({{=field.name}}).ToLocalChecked(), &msg->{{=field.name}});
 {{??}}
-  // TODO: handle array types
+    // TODO: handle array types
+{{?}}
+  }
 {{?}}
 {{~}}
 }
@@ -61,6 +75,7 @@ void rclnodejs__{{=message.structType}}::WriteMessage(v8::Local<v8::Object> jsOb
 v8::Local<v8::Object> rclnodejs__{{=message.structType}}::MakeJsObject({{=message.structType}}* msg) {
   auto jsObj = Nan::New<v8::Object>();
 {{~ message.spec.fields : field}}
+{{? !it.isInternalField(field)}}
 {{? !field.type.isArray}}
 {{? field.type.isPrimitiveType}}
   jsObj->Set(Nan::New("{{=field.name}}").ToLocalChecked(), ToJsChecked(msg->{{=field.name}}));
@@ -70,6 +85,7 @@ v8::Local<v8::Object> rclnodejs__{{=message.structType}}::MakeJsObject({{=messag
 {{??}}
   // TODO: handle array
 {{?}}
+{{?}}
 {{~}}
   return jsObj;
 }
@@ -108,4 +124,10 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::ToJsObject) {
 
 {{~}}
 
+NAN_MODULE_WORKER_ENABLED({{=it.pkgName}}, [](auto target) {
+{{~ it.messages : message}}
+  rclnodejs__{{=message.structType}}::Init(target);
+{{~}}
+});
+
 } // namespace rclnodejs
diff --git a/rosidl_gen/templates/cppDefinitionsHeader.dot b/rosidl_gen/templates/cppDefinitionsHeader.dot
index 2e6ec676..b6585174 100644
--- a/rosidl_gen/templates/cppDefinitionsHeader.dot
+++ b/rosidl_gen/templates/cppDefinitionsHeader.dot
@@ -3,6 +3,9 @@
 // *** DO NOT EDIT directly
 //
 
+#ifndef RCLNODEJS_{{=it.pkgName.toUpperCase()}}_DEFINITIONS_HPP_
+#define RCLNODEJS_{{=it.pkgName.toUpperCase()}}_DEFINITIONS_HPP_
+
 #include <nan.h>
 
 {{~ it.messages : message}}
@@ -33,3 +36,5 @@ class rclnodejs__{{=message.structType}} {
 {{~}}
 
 } // namespace rclnodejs
+
+#endif
diff --git a/rosidl_gen/templates/typesupportGypi.dot b/rosidl_gen/templates/typesupportGypi.dot
index 37bd3efa..77988a43 100644
--- a/rosidl_gen/templates/typesupportGypi.dot
+++ b/rosidl_gen/templates/typesupportGypi.dot
@@ -6,6 +6,9 @@
       'sources': [
         '{{=pkg.pkgName}}/definitions.cpp',
       ],
+      'libraries': [
+        '-l{{=pkg.pkgName}}__rosidl_typesupport_c',
+      ],
     },
 {{~}}
   ],
diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index c55d8495..3f58fe58 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -2,6 +2,10 @@
 #define RCLNODEJS_TYPE_CONVERSION_HPP_
 
 #include <nan.h>
+#include <rosidl_runtime_c/string.h>
+#include <rosidl_runtime_c/string_functions.h>
+#include <rosidl_runtime_c/u16string.h>
+#include <rosidl_runtime_c/u16string_functions.h>
 
 namespace rclnodejs {
 
@@ -47,6 +51,25 @@ inline float ToNativeChecked<float>(v8::Local<v8::Value> val) {
   return Nan::To<double>(std::move(val)).ToChecked();
 }
 
+template <>
+inline rosidl_runtime_c__String ToNativeChecked<rosidl_runtime_c__String>(
+    v8::Local<v8::Value> val) {
+  Nan::Utf8String utf8(val);
+  if (*utf8 == nullptr) {
+    throw std::runtime_error("failed to convert value to string");
+  }
+  rosidl_runtime_c__String ros_string;
+  rosidl_runtime_c__String__assign(&ros_string, *utf8);
+  return ros_string;
+}
+
+template <>
+inline rosidl_runtime_c__U16String ToNativeChecked<rosidl_runtime_c__U16String>(
+    v8::Local<v8::Value> val) {
+  // TODO:
+  throw std::runtime_error("not implemented");
+}
+
 template <typename T>
 inline v8::Local<v8::Value> ToJsChecked(T val) {
   return Nan::New(val);
@@ -59,7 +82,23 @@ inline v8::Local<v8::Value> ToJsChecked<int64_t>(int64_t val) {
 
 template <>
 inline v8::Local<v8::Value> ToJsChecked<uint64_t>(uint64_t val) {
-  return v8::BigInt::NewFromUnsigned(Nan::GetCurrentContext()->GetIsolate(), val);
+  return v8::BigInt::NewFromUnsigned(Nan::GetCurrentContext()->GetIsolate(),
+                                     val);
+}
+
+// can't specialize const ref, probably need to use SFINAE
+template <>
+inline v8::Local<v8::Value> ToJsChecked<rosidl_runtime_c__String>(
+    rosidl_runtime_c__String val) {
+  return Nan::New(val.data).ToLocalChecked();
+}
+
+// can't specialize const ref, probably need to use SFINAE
+template <>
+inline v8::Local<v8::Value> ToJsChecked<rosidl_runtime_c__U16String>(
+    rosidl_runtime_c__U16String val) {
+  // TODO:
+  throw new std::runtime_error("not implemented");
 }
 
 }  // namespace rclnodejs

From 751705e9f2aa919d9cf947be38e614e18b8a9a70 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 4 Dec 2020 16:27:21 +0800
Subject: [PATCH 05/64] using regex on the cmake files to find link libraries

---
 package.json                             |  2 +-
 rosidl_gen/idl_generator.js              | 61 +++++++++++++++++++-----
 rosidl_gen/index.js                      |  2 +-
 rosidl_gen/templates/typesupportGypi.dot |  4 +-
 4 files changed, 55 insertions(+), 14 deletions(-)

diff --git a/package.json b/package.json
index f55e4c22..f0cf217a 100644
--- a/package.json
+++ b/package.json
@@ -13,7 +13,7 @@
     "typescript"
   ],
   "scripts": {
-    "install": "node-gyp rebuild",
+    "install": "node scripts/generate_messages.js && node-gyp rebuild",
     "docs": "cd docs && make",
     "test": "node ./scripts/compile_tests.js && node --expose-gc ./scripts/run_test.js && npm run dtslint",
     "dtslint": "node ./scripts/generate_tsd.js && dtslint test/types",
diff --git a/rosidl_gen/idl_generator.js b/rosidl_gen/idl_generator.js
index 6ceacf72..68b136dd 100644
--- a/rosidl_gen/idl_generator.js
+++ b/rosidl_gen/idl_generator.js
@@ -424,19 +424,58 @@ async function generateJSStructFromIDL(pkg, dir, rosIdlDb) {
   ]);
 }
 
-async function generateTypesupportGypi(pkgsEntries) {
-  const pkgs = [];
-  for (let [pkgName, pkgInfo] of pkgsEntries) {
-    if (await fs.stat())
+/**
+ * Tries to guess the libraries needed to be linked against for typesupport_c.
+ *
+ * Normally, the typesupport libraries are built at compiled time of the message packages. The
+ * libraries that have to be linked against are based on the name of the cmake target. Because
+ *
+ *   1. We are a third party library, so our typesupport cannot be built at the compile time.
+ *   2. We are use node-gyp as the build tool, so we can't use cmake to find the link libraries.
+ *
+ * The stopgap solution is then to use regexp on the cmake config files to try to find the
+ * required link libraries.
+ *
+ * @param {string} pkg name of the package
+ * @param {string} amentRoot ament root directory
+ * @returns {string[]} an array of typesupport_c libraries found
+ */
+async function guessTypesupportCLibs(pkg, amentRoot) {
+  const cmakeExport = await fs.readFile(
+    path.join(
+      amentRoot,
+      'share',
+      pkg,
+      'cmake',
+      'ament_cmake_export_libraries-extras.cmake'
+    ),
+    'utf-8'
+  );
+  const match = cmakeExport.match(
+    /set\s*\(\s*(?:_exported_typesupport_libraries|_exported_libraries)\s*"(.*)"/
+  );
+  if (!match || match.length < 2) {
+    throw new Error(`unable to find typesupport library for ${pkg}`);
   }
-  const rendered = removeEmptyLines(
-    dots.typesupportGypi({
-      pkgs: pkgsEntries.map(([pkgName, pkgInfo]) => ({
-        pkgName,
-        pkgInfo,
-      })),
-    })
+  const libraries = match[1].replace(/:/g, ';');
+  const typesupportCLibs = [];
+  libraries.split(';').forEach((lib) => {
+    if (lib.endsWith('rosidl_typesupport_c')) {
+      typesupportCLibs.push(lib);
+    }
+  });
+  return typesupportCLibs;
+}
+
+async function generateTypesupportGypi(pkgsEntries, amentRoot) {
+  const pkgs = await Promise.all(
+    pkgsEntries.map(async ([pkgName, pkgInfo]) => ({
+      pkgName,
+      pkgInfo,
+      typesupportLibs: await guessTypesupportCLibs(pkgName, amentRoot),
+    }))
   );
+  const rendered = removeEmptyLines(dots.typesupportGypi({ pkgs }));
   await fs.writeFile(
     path.join('src', 'generated', 'typesupport.gypi'),
     rendered
diff --git a/rosidl_gen/index.js b/rosidl_gen/index.js
index 29d4b7e9..ba3ba7f5 100644
--- a/rosidl_gen/index.js
+++ b/rosidl_gen/index.js
@@ -66,7 +66,7 @@ async function generateInPath(path) {
       generateCppDefinitions(pkgName, pkgInfo, rosIdlDb)
     )
   );
-  await generateTypesupportGypi(pkgsEntries);
+  await generateTypesupportGypi(pkgsEntries, path);
 }
 
 async function generateAll(forcedGenerating) {
diff --git a/rosidl_gen/templates/typesupportGypi.dot b/rosidl_gen/templates/typesupportGypi.dot
index 77988a43..217ae5e9 100644
--- a/rosidl_gen/templates/typesupportGypi.dot
+++ b/rosidl_gen/templates/typesupportGypi.dot
@@ -7,7 +7,9 @@
         '{{=pkg.pkgName}}/definitions.cpp',
       ],
       'libraries': [
-        '-l{{=pkg.pkgName}}__rosidl_typesupport_c',
+{{~ pkg.typesupportLibs : lib}}
+        '-l{{=lib}}',
+{{~}}
       ],
     },
 {{~}}

From 24d9ef7c1c43142583977006c26b9add8079867f Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 4 Dec 2020 17:01:53 +0800
Subject: [PATCH 06/64] collect all packages from all paths before generating,
 this is needed to generate typesupport gypi

---
 rosidl_gen/idl_generator.js |  4 ++--
 rosidl_gen/index.js         | 42 ++++++++++++++-----------------------
 2 files changed, 18 insertions(+), 28 deletions(-)

diff --git a/rosidl_gen/idl_generator.js b/rosidl_gen/idl_generator.js
index 68b136dd..72b60b21 100644
--- a/rosidl_gen/idl_generator.js
+++ b/rosidl_gen/idl_generator.js
@@ -467,12 +467,12 @@ async function guessTypesupportCLibs(pkg, amentRoot) {
   return typesupportCLibs;
 }
 
-async function generateTypesupportGypi(pkgsEntries, amentRoot) {
+async function generateTypesupportGypi(pkgsEntries) {
   const pkgs = await Promise.all(
     pkgsEntries.map(async ([pkgName, pkgInfo]) => ({
       pkgName,
       pkgInfo,
-      typesupportLibs: await guessTypesupportCLibs(pkgName, amentRoot),
+      typesupportLibs: await guessTypesupportCLibs(pkgName, pkgInfo.amentRoot),
     }))
   );
   const rendered = removeEmptyLines(dots.typesupportGypi({ pkgs }));
diff --git a/rosidl_gen/index.js b/rosidl_gen/index.js
index ba3ba7f5..1c3dfec1 100644
--- a/rosidl_gen/index.js
+++ b/rosidl_gen/index.js
@@ -29,27 +29,16 @@ const installedPackagePaths = process.env.AMENT_PREFIX_PATH.split(
   path.delimiter
 );
 
-async function generateInPath(path) {
-  const pkgs = await packages.findPackagesInDirectory(path);
-  // const pkgs = new Map();
-  // pkgs.set('test_msgs', {
-  //   messages: [
-  //     {
-  //       pkgName: 'test_msgs',
-  //       interfaceName: 'Nested',
-  //       subFolder: 'msg',
-  //       filePath: '/opt/ros/foxy/share/test_msgs/msg/Nested.msg',
-  //     },
-  //     {
-  //       pkgName: 'test_msgs',
-  //       interfaceName: 'BasicTypes',
-  //       subFolder: 'msg',
-  //       filePath: '/opt/ros/foxy/share/test_msgs/msg/BasicTypes.msg',
-  //     },
-  //   ],
-  //   services: [],
-  //   actions: [],
-  // });
+async function generateInPaths(paths) {
+  const pkgsInPaths = await Promise.all(
+    paths.map((path) => packages.findPackagesInDirectory(path))
+  );
+  const pkgs = new Map();
+  pkgsInPaths.forEach((m, i) => {
+    for (let [pkgName, pkgInfo] of m.entries()) {
+      pkgs.set(pkgName, { ...pkgInfo, amentRoot: paths[i] });
+    }
+  });
 
   const rosIdlDb = new RosIdlDb(pkgs);
 
@@ -66,7 +55,7 @@ async function generateInPath(path) {
       generateCppDefinitions(pkgName, pkgInfo, rosIdlDb)
     )
   );
-  await generateTypesupportGypi(pkgsEntries, path);
+  await generateTypesupportGypi(pkgsEntries);
 }
 
 async function generateAll(forcedGenerating) {
@@ -79,9 +68,10 @@ async function generateAll(forcedGenerating) {
       path.join(__dirname, 'generator.json'),
       path.join(generatedRoot, 'generator.json')
     );
-    await Promise.all(
-      installedPackagePaths.map((path) => generateInPath(path))
-    );
+    await generateInPaths(installedPackagePaths);
+    // await Promise.all(
+    //   installedPackagePaths.map((path) => generateInPath(path))
+    // );
   }
 }
 
@@ -92,7 +82,7 @@ const generator = {
   },
 
   generateAll,
-  generateInPath,
+  generateInPaths,
   generatedRoot,
 };
 

From de5563120c633137ec38468f63e75e0187f40dda Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Mon, 7 Dec 2020 08:58:30 +0800
Subject: [PATCH 07/64] remove package-lock

---
 package-lock.json | 4607 ---------------------------------------------
 1 file changed, 4607 deletions(-)
 delete mode 100644 package-lock.json

diff --git a/package-lock.json b/package-lock.json
deleted file mode 100644
index bd06aa69..00000000
--- a/package-lock.json
+++ /dev/null
@@ -1,4607 +0,0 @@
-{
-  "name": "rclnodejs",
-  "version": "0.16.0",
-  "lockfileVersion": 1,
-  "requires": true,
-  "dependencies": {
-    "@babel/code-frame": {
-      "version": "7.10.4",
-      "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.10.4.tgz",
-      "integrity": "sha512-vG6SvB6oYEhvgisZNFRmRCUkLz11c7rp+tbNTynGqc6mS1d5ATd/sGyV6W0KZZnXRKMTzZDRgQT3Ou9jhpAfUg==",
-      "dev": true,
-      "requires": {
-        "@babel/highlight": "^7.10.4"
-      }
-    },
-    "@babel/helper-validator-identifier": {
-      "version": "7.10.4",
-      "resolved": "https://registry.npmjs.org/@babel/helper-validator-identifier/-/helper-validator-identifier-7.10.4.tgz",
-      "integrity": "sha512-3U9y+43hz7ZM+rzG24Qe2mufW5KhvFg/NhnNph+i9mgCtdTCtMJuI1TMkrIUiK7Ix4PYlRF9I5dhqaLYA/ADXw==",
-      "dev": true
-    },
-    "@babel/highlight": {
-      "version": "7.10.4",
-      "resolved": "https://registry.npmjs.org/@babel/highlight/-/highlight-7.10.4.tgz",
-      "integrity": "sha512-i6rgnR/YgPEQzZZnbTHHuZdlE8qyoBNalD6F+q4vAFlcMEcqmkoG+mPqJYJCo63qPf74+Y1UZsl3l6f7/RIkmA==",
-      "dev": true,
-      "requires": {
-        "@babel/helper-validator-identifier": "^7.10.4",
-        "chalk": "^2.0.0",
-        "js-tokens": "^4.0.0"
-      },
-      "dependencies": {
-        "js-tokens": {
-          "version": "4.0.0",
-          "resolved": "https://registry.npmjs.org/js-tokens/-/js-tokens-4.0.0.tgz",
-          "integrity": "sha512-RdJUflcE3cUzKiMqQgsCu06FPu9UdIJO0beYbPhHN4k6apgJtifcoCtT9bcxOpYBtpD2kCM6Sbzg4CausW/PKQ==",
-          "dev": true
-        }
-      }
-    },
-    "@definitelytyped/header-parser": {
-      "version": "0.0.57",
-      "resolved": "https://registry.npmjs.org/@definitelytyped/header-parser/-/header-parser-0.0.57.tgz",
-      "integrity": "sha512-0CNcUUANv93072vleKkXKT8xUNk9JLhaHVMZbBYP/km55T+V8eGCP6BS0pS80MPhvZouq2FmR/r8B5jlR+MQ8w==",
-      "dev": true,
-      "requires": {
-        "@definitelytyped/typescript-versions": "^0.0.57",
-        "@types/parsimmon": "^1.10.1",
-        "parsimmon": "^1.13.0"
-      }
-    },
-    "@definitelytyped/typescript-versions": {
-      "version": "0.0.57",
-      "resolved": "https://registry.npmjs.org/@definitelytyped/typescript-versions/-/typescript-versions-0.0.57.tgz",
-      "integrity": "sha512-PpA1dLjH//4fvZ6P5RVR10n+it0lBp/so3dgSAHdFmtHU42kPFc2TlwIYSDL0P5DcNVYViAwIvIIVbYF9hbD+Q==",
-      "dev": true
-    },
-    "@definitelytyped/utils": {
-      "version": "0.0.57",
-      "resolved": "https://registry.npmjs.org/@definitelytyped/utils/-/utils-0.0.57.tgz",
-      "integrity": "sha512-YEIxwB2Im0GQ0lapCpoW+m3XeQqctf0aueuVbm2lNESZCVMgLXVSFaTIquhgKcp/KW+HzVldwH7RyEnbTZiWQw==",
-      "dev": true,
-      "requires": {
-        "@definitelytyped/typescript-versions": "^0.0.57",
-        "@types/node": "^12.12.29",
-        "charm": "^1.0.2",
-        "fs-extra": "^8.1.0",
-        "fstream": "^1.0.12",
-        "npm-registry-client": "^8.6.0",
-        "tar": "^2.2.2",
-        "tar-stream": "1.6.2"
-      },
-      "dependencies": {
-        "fs-extra": {
-          "version": "8.1.0",
-          "resolved": "https://registry.npmjs.org/fs-extra/-/fs-extra-8.1.0.tgz",
-          "integrity": "sha512-yhlQgA6mnOJUKOsRUFsgJdQCvkKhcz8tlZG5HBQfReYZy46OwLcY+Zia0mtdHsOo9y/hP+CxMN0TU9QxoOtG4g==",
-          "dev": true,
-          "requires": {
-            "graceful-fs": "^4.2.0",
-            "jsonfile": "^4.0.0",
-            "universalify": "^0.1.0"
-          }
-        },
-        "jsonfile": {
-          "version": "4.0.0",
-          "resolved": "https://registry.npmjs.org/jsonfile/-/jsonfile-4.0.0.tgz",
-          "integrity": "sha1-h3Gq4HmbZAdrdmQPygWPnBDjPss=",
-          "dev": true,
-          "requires": {
-            "graceful-fs": "^4.1.6"
-          }
-        },
-        "universalify": {
-          "version": "0.1.2",
-          "resolved": "https://registry.npmjs.org/universalify/-/universalify-0.1.2.tgz",
-          "integrity": "sha512-rBJeI5CXAlmy1pV+617WB9J63U6XcazHHF2f2dbJix4XzpUF0RS3Zbj0FGIOCAva5P/d/GBOYaACQ1w+0azUkg==",
-          "dev": true
-        }
-      }
-    },
-    "@eslint/eslintrc": {
-      "version": "0.1.3",
-      "resolved": "https://registry.npmjs.org/@eslint/eslintrc/-/eslintrc-0.1.3.tgz",
-      "integrity": "sha512-4YVwPkANLeNtRjMekzux1ci8hIaH5eGKktGqR0d3LWsKNn5B2X/1Z6Trxy7jQXl9EBGE6Yj02O+t09FMeRllaA==",
-      "dev": true,
-      "requires": {
-        "ajv": "^6.12.4",
-        "debug": "^4.1.1",
-        "espree": "^7.3.0",
-        "globals": "^12.1.0",
-        "ignore": "^4.0.6",
-        "import-fresh": "^3.2.1",
-        "js-yaml": "^3.13.1",
-        "lodash": "^4.17.19",
-        "minimatch": "^3.0.4",
-        "strip-json-comments": "^3.1.1"
-      },
-      "dependencies": {
-        "strip-json-comments": {
-          "version": "3.1.1",
-          "resolved": "https://registry.npmjs.org/strip-json-comments/-/strip-json-comments-3.1.1.tgz",
-          "integrity": "sha512-6fPc+R4ihwqP6N/aIv2f1gMH8lOVtWQHoqC4yK6oSDVVocumAsfCqjkXnqiYMhmMwS/mEHLp7Vehlt3ql6lEig==",
-          "dev": true
-        }
-      }
-    },
-    "@nodelib/fs.scandir": {
-      "version": "2.1.3",
-      "resolved": "https://registry.npmjs.org/@nodelib/fs.scandir/-/fs.scandir-2.1.3.tgz",
-      "integrity": "sha512-eGmwYQn3gxo4r7jdQnkrrN6bY478C3P+a/y72IJukF8LjB6ZHeB3c+Ehacj3sYeSmUXGlnA67/PmbM9CVwL7Dw==",
-      "dev": true,
-      "requires": {
-        "@nodelib/fs.stat": "2.0.3",
-        "run-parallel": "^1.1.9"
-      }
-    },
-    "@nodelib/fs.stat": {
-      "version": "2.0.3",
-      "resolved": "https://registry.npmjs.org/@nodelib/fs.stat/-/fs.stat-2.0.3.tgz",
-      "integrity": "sha512-bQBFruR2TAwoevBEd/NWMoAAtNGzTRgdrqnYCc7dhzfoNvqPzLyqlEQnzZ3kVnNrSp25iyxE00/3h2fqGAGArA==",
-      "dev": true
-    },
-    "@nodelib/fs.walk": {
-      "version": "1.2.4",
-      "resolved": "https://registry.npmjs.org/@nodelib/fs.walk/-/fs.walk-1.2.4.tgz",
-      "integrity": "sha512-1V9XOY4rDW0rehzbrcqAmHnz8e7SKvX27gh8Gt2WgB0+pdzdiLV83p72kZPU+jvMbS1qU5mauP2iOvO8rhmurQ==",
-      "dev": true,
-      "requires": {
-        "@nodelib/fs.scandir": "2.1.3",
-        "fastq": "^1.6.0"
-      }
-    },
-    "@sinonjs/commons": {
-      "version": "1.8.1",
-      "resolved": "https://registry.npmjs.org/@sinonjs/commons/-/commons-1.8.1.tgz",
-      "integrity": "sha512-892K+kWUUi3cl+LlqEWIDrhvLgdL79tECi8JZUyq6IviKy/DNhuzCRlbHUjxK89f4ypPMMaFnFuR9Ie6DoIMsw==",
-      "dev": true,
-      "requires": {
-        "type-detect": "4.0.8"
-      }
-    },
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From 355fb02c6da32cc3441344cda421a24e5d4b30af Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Mon, 7 Dec 2020 10:31:49 +0800
Subject: [PATCH 08/64] link to correct library

---
 rosidl_gen/idl_generator.js              | 12 ++++++------
 rosidl_gen/templates/typesupportGypi.dot |  8 +++++---
 2 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/rosidl_gen/idl_generator.js b/rosidl_gen/idl_generator.js
index 72b60b21..24567bbd 100644
--- a/rosidl_gen/idl_generator.js
+++ b/rosidl_gen/idl_generator.js
@@ -425,7 +425,7 @@ async function generateJSStructFromIDL(pkg, dir, rosIdlDb) {
 }
 
 /**
- * Tries to guess the libraries needed to be linked against for typesupport_c.
+ * Tries to guess the libraries needed to be linked against for generator_c.
  *
  * Normally, the typesupport libraries are built at compiled time of the message packages. The
  * libraries that have to be linked against are based on the name of the cmake target. Because
@@ -438,9 +438,9 @@ async function generateJSStructFromIDL(pkg, dir, rosIdlDb) {
  *
  * @param {string} pkg name of the package
  * @param {string} amentRoot ament root directory
- * @returns {string[]} an array of typesupport_c libraries found
+ * @returns {string[]} an array of generator_c libraries found
  */
-async function guessTypesupportCLibs(pkg, amentRoot) {
+async function guessGeneratorCLibs(pkg, amentRoot) {
   const cmakeExport = await fs.readFile(
     path.join(
       amentRoot,
@@ -455,12 +455,12 @@ async function guessTypesupportCLibs(pkg, amentRoot) {
     /set\s*\(\s*(?:_exported_typesupport_libraries|_exported_libraries)\s*"(.*)"/
   );
   if (!match || match.length < 2) {
-    throw new Error(`unable to find typesupport library for ${pkg}`);
+    throw new Error(`unable to find generator_c library for ${pkg}`);
   }
   const libraries = match[1].replace(/:/g, ';');
   const typesupportCLibs = [];
   libraries.split(';').forEach((lib) => {
-    if (lib.endsWith('rosidl_typesupport_c')) {
+    if (lib.endsWith('rosidl_generator_c')) {
       typesupportCLibs.push(lib);
     }
   });
@@ -472,7 +472,7 @@ async function generateTypesupportGypi(pkgsEntries) {
     pkgsEntries.map(async ([pkgName, pkgInfo]) => ({
       pkgName,
       pkgInfo,
-      typesupportLibs: await guessTypesupportCLibs(pkgName, pkgInfo.amentRoot),
+      typesupportLibs: await guessGeneratorCLibs(pkgName, pkgInfo.amentRoot),
     }))
   );
   const rendered = removeEmptyLines(dots.typesupportGypi({ pkgs }));
diff --git a/rosidl_gen/templates/typesupportGypi.dot b/rosidl_gen/templates/typesupportGypi.dot
index 217ae5e9..23e2b8f7 100644
--- a/rosidl_gen/templates/typesupportGypi.dot
+++ b/rosidl_gen/templates/typesupportGypi.dot
@@ -6,11 +6,13 @@
       'sources': [
         '{{=pkg.pkgName}}/definitions.cpp',
       ],
-      'libraries': [
+      'link_settings': {
+        'libraries': [
 {{~ pkg.typesupportLibs : lib}}
-        '-l{{=lib}}',
+          '-l{{=lib}}',
 {{~}}
-      ],
+        ],
+      },
     },
 {{~}}
   ],

From 47a162708fb520082242895d1979616b7330ba4d Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Mon, 7 Dec 2020 10:32:08 +0800
Subject: [PATCH 09/64] remove test.js

---
 test.js | 13 -------------
 1 file changed, 13 deletions(-)
 delete mode 100644 test.js

diff --git a/test.js b/test.js
deleted file mode 100644
index 6eab8d38..00000000
--- a/test.js
+++ /dev/null
@@ -1,13 +0,0 @@
-'use strict';
-
-const rclnodejs = require('.');
-const test = require('bindings')('std_msgs');
-console.log(test.String.create());
-
-// rclnodejs.init().then(() => {
-//   const node = rclnodejs.createNode('test');
-//   node.createSubscription('std_msgs/msg/String', 'test', (msg) => {
-//     console.log(msg);
-//   });
-//   rclnodejs.spin(node);
-// });

From 8085c7f6c1fed2a1c2394258615e99365cc8cfa1 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Mon, 7 Dec 2020 11:17:04 +0800
Subject: [PATCH 10/64] export as class

---
 lib/interface_loader.js                 |  3 ++-
 rosidl_gen/templates/cppDefinitions.dot | 11 ++++++-----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/lib/interface_loader.js b/lib/interface_loader.js
index 70b8e923..1ddfb0b8 100644
--- a/lib/interface_loader.js
+++ b/lib/interface_loader.js
@@ -17,6 +17,7 @@
 const path = require('path');
 const fs = require('fs');
 const generator = require('../rosidl_gen/index.js');
+const bindings = require('bindings');
 
 let interfaceLoader = {
   loadInterfaceByObject(obj) {
@@ -110,7 +111,7 @@ let interfaceLoader = {
       );
       // eslint-disable-next-line
       if (fs.existsSync(filePath)) {
-        return require(filePath);
+        return bindings(packageName)[messageName];
       }
     }
     throw new Error(
diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index f7bff807..f95526bc 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -21,11 +21,12 @@ namespace rclnodejs {
 
 {{~ it.messages : message}}
 NAN_MODULE_INIT(rclnodejs__{{=message.structType}}::Init) {
-  auto obj = Nan::New<v8::Object>();
-  obj->Set(Nan::New("create").ToLocalChecked(), Nan::New<v8::Function>(rclnodejs__{{=message.structType}}::Create));
-  obj->Set(Nan::New("from").ToLocalChecked(), Nan::New<v8::Function>(rclnodejs__{{=message.structType}}::FromJsObject));
-  obj->Set(Nan::New("to").ToLocalChecked(), Nan::New<v8::Function>(rclnodejs__{{=message.structType}}::ToJsObject));
-  Nan::Set(target, Nan::New("{{=message.info.interfaceName}}").ToLocalChecked(), obj);
+  auto clazz = Nan::New<v8::FunctionTemplate>();
+  clazz->SetClassName(Nan::New("{{=message.interfaceName}}").ToLocalChecked());
+  clazz->Set(Nan::New("create").ToLocalChecked(), Nan::New<v8::FunctionTemplate>(rclnodejs__{{=message.structType}}::Create));
+  clazz->Set(Nan::New("from").ToLocalChecked(), Nan::New<v8::FunctionTemplate>(rclnodejs__{{=message.structType}}::FromJsObject));
+  clazz->Set(Nan::New("to").ToLocalChecked(), Nan::New<v8::FunctionTemplate>(rclnodejs__{{=message.structType}}::ToJsObject));
+  Nan::Set(target, Nan::New("{{=message.info.interfaceName}}").ToLocalChecked(), Nan::GetFunction(clazz).ToLocalChecked());
 }
 
 void rclnodejs__{{=message.structType}}::WriteMessage(v8::Local<v8::Object> jsObj, {{=message.structType}}* msg) {

From 7fd4799aa31df1f156694755efe3afc3f72cdd6f Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Mon, 7 Dec 2020 11:25:08 +0800
Subject: [PATCH 11/64] remove usage of deprecated functions

---
 rosidl_gen/templates/cppDefinitions.dot | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index f95526bc..36af7f24 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -34,7 +34,7 @@ void rclnodejs__{{=message.structType}}::WriteMessage(v8::Local<v8::Object> jsOb
 {{? !it.isInternalField(field)}}
   {
     // end with underscore so it doesn't conflicts with field names
-    auto js_value_ = jsObj->Get(Nan::New("{{=field.name}}").ToLocalChecked());
+    auto js_value_ = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
 {{
     const jsType = it.getJsType(field.type);
 }}
@@ -79,9 +79,9 @@ v8::Local<v8::Object> rclnodejs__{{=message.structType}}::MakeJsObject({{=messag
 {{? !it.isInternalField(field)}}
 {{? !field.type.isArray}}
 {{? field.type.isPrimitiveType}}
-  jsObj->Set(Nan::New("{{=field.name}}").ToLocalChecked(), ToJsChecked(msg->{{=field.name}}));
+  Nan::Set(jsObj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsChecked(msg->{{=field.name}}));
 {{??}}
-  jsObj->Set(Nan::New("{{=field.name}}").ToLocalChecked(), rclnodejs__{{=it.getStructTypeFromRosType(field.type)}}::MakeJsObject(&msg->{{=field.name}}));
+  Nan::Set(jsObj,Nan::New("{{=field.name}}").ToLocalChecked(), rclnodejs__{{=it.getStructTypeFromRosType(field.type)}}::MakeJsObject(&msg->{{=field.name}}));
 {{?}}
 {{??}}
   // TODO: handle array

From 8c5d83342f05c70d53280240dabaeffe2e11ecc6 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Mon, 7 Dec 2020 11:52:33 +0800
Subject: [PATCH 12/64] it works!

---
 lib/interface_loader.js          |  3 +--
 lib/node.js                      |  6 +++---
 lib/subscription.js              |  6 +++++-
 rosidl_gen/templates/message.dot | 13 +++++++++++++
 4 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/lib/interface_loader.js b/lib/interface_loader.js
index 1ddfb0b8..70b8e923 100644
--- a/lib/interface_loader.js
+++ b/lib/interface_loader.js
@@ -17,7 +17,6 @@
 const path = require('path');
 const fs = require('fs');
 const generator = require('../rosidl_gen/index.js');
-const bindings = require('bindings');
 
 let interfaceLoader = {
   loadInterfaceByObject(obj) {
@@ -111,7 +110,7 @@ let interfaceLoader = {
       );
       // eslint-disable-next-line
       if (fs.existsSync(filePath)) {
-        return bindings(packageName)[messageName];
+        return require(filePath);
       }
     }
     throw new Error(
diff --git a/lib/node.js b/lib/node.js
index 7daf0717..40b0ce5d 100644
--- a/lib/node.js
+++ b/lib/node.js
@@ -1520,9 +1520,9 @@ class Node {
    * @returns {undefined}
    */
   _runWithMessageType(Type, callback) {
-    if (process.env.RCLNODEJS_USE_ROS_SERIALIZATION) {
-      let message = Type.create();
-      callback(message, () => Type.ToJsObject(message));
+    if (process.env.RCLNODEJS_USE_ROS_MESSAGE) {
+      let message = Type.createRosMessage();
+      callback(message, () => Type.rosMessageToObj(message));
     } else {
       let message = new Type();
 
diff --git a/lib/subscription.js b/lib/subscription.js
index 96a7f261..0fce3749 100644
--- a/lib/subscription.js
+++ b/lib/subscription.js
@@ -36,7 +36,11 @@ class Subscription extends Entity {
     if (this._isRaw) {
       this._callback(msg);
     } else {
-      this._callback(msg.toPlainObject(this.typedArrayEnabled));
+      if (process.env.RCLNODEJS_USE_ROS_MESSAGE) {
+        this._callback(msg);
+      } else {
+        this._callback(msg.toPlainObject(this.typedArrayEnabled));
+      }
     }
   }
 
diff --git a/rosidl_gen/templates/message.dot b/rosidl_gen/templates/message.dot
index a6943adf..e36e1ae8 100644
--- a/rosidl_gen/templates/message.dot
+++ b/rosidl_gen/templates/message.dot
@@ -225,6 +225,7 @@ const ArrayType = require('ref-array-di')(ref);
 const primitiveTypes = require('../../rosidl_gen/primitive_types.js');
 const deallocator = require('../../rosidl_gen/deallocator.js');
 const translator = require('../../rosidl_gen/message_translator.js');
+const typesupport = require('bindings')('{{=it.messageInfo.pkgName}}').{{=it.messageInfo.interfaceName}};
 
 {{~ it.spec.fields :field}}
 {{? shouldRequire(it.spec.baseType, field.type)}}
@@ -356,6 +357,18 @@ class {{=objectWrapper}} {
     return {{=refObjectType}};
   }
 
+  static createRosMessage() {
+    return typesupport.create();
+  }
+
+  static rosMessageToObj(rosMsg) {
+    return typesupport.to(rosMsg);
+  }
+
+  static rosMessageFromObj(obj) {
+    return typesupport.from(obj);
+  }
+
   toRawROS() {
     this.freeze(true);
     return this._refObject.ref();

From 4e017aecc9f6c37d490fe8d198f6182192fbff8d Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 8 Dec 2020 11:17:15 +0800
Subject: [PATCH 13/64] support publishing

---
 lib/node.js                                   |   2 +-
 rosidl_gen/idl_generator.js                   | 187 +++++++++++-------
 rosidl_gen/index.js                           |   2 +-
 rosidl_gen/templates/cppDefinitions.dot       | 132 +++++++------
 rosidl_gen/templates/cppDefinitionsHeader.dot |  15 +-
 rosidl_gen/templates/message.dot              |  22 ++-
 rosidl_gen/templates/typesupportGypi.dot      |   4 +-
 7 files changed, 213 insertions(+), 151 deletions(-)

diff --git a/lib/node.js b/lib/node.js
index 40b0ce5d..88c0b410 100644
--- a/lib/node.js
+++ b/lib/node.js
@@ -1522,7 +1522,7 @@ class Node {
   _runWithMessageType(Type, callback) {
     if (process.env.RCLNODEJS_USE_ROS_MESSAGE) {
       let message = Type.createRosMessage();
-      callback(message, () => Type.rosMessageToObj(message));
+      callback(message, () => Type.toJsObject(message));
     } else {
       let message = new Type();
 
diff --git a/rosidl_gen/idl_generator.js b/rosidl_gen/idl_generator.js
index 24567bbd..d8f23dfc 100644
--- a/rosidl_gen/idl_generator.js
+++ b/rosidl_gen/idl_generator.js
@@ -26,21 +26,59 @@ class RosIdlDb {
     this.pkgIndex = pkgs;
     this.specIndex = {};
     this.messageInfoIndex = {};
+    this.dependentMessagesIndex = {};
     this.dependentPackagesIndex = {};
+    this.linkLibrariesIndex = {};
     for (let pkg of pkgs.values()) {
       pkg.messages.forEach((messageInfo) => {
-        this.messageInfoIndex[
-          `${messageInfo.pkgName}__${messageInfo.interfaceName}`
-        ] = messageInfo;
+        this.messageInfoIndex[this._messageInfoHash(messageInfo)] = messageInfo;
       });
     }
   }
 
+  setSpec(messageInfo, spec) {
+    this.specIndex[this._messageInfoHash(messageInfo)] = spec;
+  }
+
   getMessageInfoFromType(type) {
-    return this.messageInfoIndex[`${type.pkgName}__${type.type}`];
+    return this.messageInfoIndex[`${type.pkgName}/${type.type}`];
+  }
+
+  /**
+   * Gets a list of all messages that a message depends on.
+   * @param {string} messageInfo Base message.
+   * @returns {object[]} An array of message infos.
+   */
+  async getDependentMessages(messageInfo) {
+    const key = this._messageInfoHash(messageInfo);
+    let dependentMessages = this.dependentMessagesIndex[key];
+    if (dependentMessages === undefined) {
+      this.dependentMessagesIndex[key] = new Promise(async (res) => {
+        const set = new Set();
+        const spec = await this.getMessageSpec(messageInfo);
+        spec.fields.forEach((field) => {
+          if (
+            field.type.pkgName &&
+            field.type.pkgName !== messageInfo.pkgName
+          ) {
+            // `this.getMessageInfoFromType` must always return the
+            // same object for the same type for this to work
+            set.add(this.getMessageInfoFromType(field.type));
+          }
+        });
+        res(Array.from(set.values()));
+      });
+      return this.dependentMessagesIndex[key];
+    }
+    return dependentMessages;
   }
 
-  async getDependentMessages(pkgName) {
+  /**
+   * Gets a list of packages that a given package depends on.
+   * @param {string} pkgName Name of the base package
+   * @returns {Promise<string[]>} An array containing name of all dependent packages.
+   */
+  async getDependentPackages(pkgName) {
     let dependentPackages = this.dependentPackagesIndex[pkgName];
     if (dependentPackages === undefined) {
       this.dependentPackagesIndex[pkgName] = new Promise(async (res) => {
@@ -50,9 +88,7 @@ class RosIdlDb {
           const spec = await this.getMessageSpec(messageInfo);
           spec.fields.forEach((field) => {
             if (field.type.pkgName && field.type.pkgName !== pkgName) {
-              // `this.getMessageInfoFromType` must always return the
-              // same object for the same type for this to work
-              set.add(this.getMessageInfoFromType(field.type));
+              set.add(field.type.pkgName);
             }
           });
         }
@@ -64,7 +100,7 @@ class RosIdlDb {
   }
 
   _messageInfoHash(messageInfo) {
-    return `${messageInfo.pkgName}__${messageInfo.interfaceName}`;
+    return `${messageInfo.pkgName}/${messageInfo.interfaceName}`;
   }
 
   async getMessageSpec(messageInfo) {
@@ -84,13 +120,72 @@ class RosIdlDb {
     return promise;
   }
 
-  // _getDependentPackagesImpl(pkg)
+  async getLinkLibraries(pkgName) {
+    let linkLibraries = this.linkLibrariesIndex[pkgName];
+    if (linkLibraries === undefined) {
+      this.linkLibrariesIndex[pkgName] = new Promise(async (res) => {
+        const set = new Set();
+        const dependentPackages = await this.getDependentPackages(pkgName);
+        const dependentLibraries = (
+          await Promise.all(
+            dependentPackages.map((name) => this.getLinkLibraries(name))
+          )
+        ).flat();
+        dependentLibraries.forEach((lib) => set.add(lib));
+
+        const pkg = this.pkgIndex.get(pkgName);
+        const generatorCLibs = await this._guessGeneratorCLibs(pkg);
+        generatorCLibs.forEach((lib) => set.add(lib));
 
-  // getDependentPackages(pkg) {
-  //   pkg.messages.forEach((messageInfo) => {
+        res(Array.from(set.values()));
+      });
+      linkLibraries = this.linkLibrariesIndex[pkgName];
+    }
+    return linkLibraries;
+  }
 
-  //   })
-  // }
+  /**
+   * Tries to guess the libraries needed to be linked against for generator_c.
+   *
+   * Normally, the typesupport libraries are built at compiled time of the message packages. The
+   * libraries that have to be linked against are based on the name of the cmake target. Because
+   *
+   *   1. We are a third party library, so our typesupport cannot be built at the compile time.
+   *   2. We are use node-gyp as the build tool, so we can't use cmake to find the link libraries.
+   *
+   * The stopgap solution is then to use regexp on the cmake config files to try to find the
+   * required link libraries.
+   *
+   * @param {string} pkg package info
+   * @param {string} amentRoot ament root directory
+   * @returns {Promise<string[]>} an array of generator_c libraries found
+   */
+  async _guessGeneratorCLibs(pkg) {
+    const cmakeExport = await fs.readFile(
+      path.join(
+        pkg.amentRoot,
+        'share',
+        pkg.pkgName,
+        'cmake',
+        'ament_cmake_export_libraries-extras.cmake'
+      ),
+      'utf-8'
+    );
+    const match = cmakeExport.match(
+      /set\s*\(\s*(?:_exported_typesupport_libraries|_exported_libraries)\s*"(.*)"/
+    );
+    if (!match || match.length < 2) {
+      throw new Error(`unable to find generator_c library for ${pkg}`);
+    }
+    const libraries = match[1].replace(/:/g, ';');
+    const generatorCLibs = [];
+    libraries.split(';').forEach((lib) => {
+      if (lib.endsWith('rosidl_generator_c')) {
+        generatorCLibs.push(lib);
+      }
+    });
+    return generatorCLibs;
+  }
 }
 
 dot.templateSettings.strip = false;
@@ -140,7 +235,7 @@ async function generateMessageJSStruct(messageInfo, dir, rosIdlDb) {
   await generateMessageJSStructFromSpec(messageInfo, dir, spec);
 }
 
-function generateMessageJSStructFromSpec(messageInfo, dir, spec) {
+async function generateMessageJSStructFromSpec(messageInfo, dir, spec) {
   dir = path.join(dir, `${spec.baseType.pkgName}`);
   const fileName =
     spec.baseType.pkgName +
@@ -187,6 +282,10 @@ function getJsType(rosType) {
   return 'object';
 }
 
+function isInternalField(field) {
+  return field.name.startsWith('_');
+}
+
 function isServiceMessage(messageInfo) {
   return (
     messageInfo.interfaceName.endsWith('_Request') ||
@@ -194,10 +293,6 @@ function isServiceMessage(messageInfo) {
   );
 }
 
-function isInternalField(field) {
-  return field.name.startsWith('_');
-}
-
 // All messages are combined in one cpp file to improve compile time.
 async function generateCppDefinitions(pkgName, pkgInfo, rosIdlDb) {
   const getStructType = (messageInfo) => {
@@ -222,14 +317,14 @@ async function generateCppDefinitions(pkgName, pkgInfo, rosIdlDb) {
     }
   }
 
-  const dependentMessages = await rosIdlDb.getDependentMessages(pkgName);
+  const dependentPackages = await rosIdlDb.getDependentPackages(pkgName);
 
   const source = removeEmptyLines(
     dots.cppDefinitions({
       pkgName,
       pkgInfo,
       messages,
-      dependentMessages,
+      dependentPackages,
       rosIdlDb,
       getStructType,
       getRosHeaderField,
@@ -244,7 +339,7 @@ async function generateCppDefinitions(pkgName, pkgInfo, rosIdlDb) {
       pkgName,
       pkgInfo,
       messages,
-      dependentMessages,
+      dependentPackages,
       rosIdlDb,
       getStructType,
       getRosHeaderField,
@@ -424,55 +519,13 @@ async function generateJSStructFromIDL(pkg, dir, rosIdlDb) {
   ]);
 }
 
-/**
- * Tries to guess the libraries needed to be linked against for generator_c.
- *
- * Normally, the typesupport libraries are built at compiled time of the message packages. The
- * libraries that have to be linked against are based on the name of the cmake target. Because
- *
- *   1. We are a third party library, so our typesupport cannot be built at the compile time.
- *   2. We are use node-gyp as the build tool, so we can't use cmake to find the link libraries.
- *
- * The stopgap solution is then to use regexp on the cmake config files to try to find the
- * required link libraries.
- *
- * @param {string} pkg name of the package
- * @param {string} amentRoot ament root directory
- * @returns {string[]} an array of generator_c libraries found
- */
-async function guessGeneratorCLibs(pkg, amentRoot) {
-  const cmakeExport = await fs.readFile(
-    path.join(
-      amentRoot,
-      'share',
-      pkg,
-      'cmake',
-      'ament_cmake_export_libraries-extras.cmake'
-    ),
-    'utf-8'
-  );
-  const match = cmakeExport.match(
-    /set\s*\(\s*(?:_exported_typesupport_libraries|_exported_libraries)\s*"(.*)"/
-  );
-  if (!match || match.length < 2) {
-    throw new Error(`unable to find generator_c library for ${pkg}`);
-  }
-  const libraries = match[1].replace(/:/g, ';');
-  const typesupportCLibs = [];
-  libraries.split(';').forEach((lib) => {
-    if (lib.endsWith('rosidl_generator_c')) {
-      typesupportCLibs.push(lib);
-    }
-  });
-  return typesupportCLibs;
-}
-
-async function generateTypesupportGypi(pkgsEntries) {
+async function generateTypesupportGypi(pkgsEntries, rosIdlDb) {
   const pkgs = await Promise.all(
     pkgsEntries.map(async ([pkgName, pkgInfo]) => ({
       pkgName,
       pkgInfo,
-      typesupportLibs: await guessGeneratorCLibs(pkgName, pkgInfo.amentRoot),
+      linkLibraries: await rosIdlDb.getLinkLibraries(pkgName),
+      dependencies: await rosIdlDb.getDependentPackages(pkgName),
     }))
   );
   const rendered = removeEmptyLines(dots.typesupportGypi({ pkgs }));
diff --git a/rosidl_gen/index.js b/rosidl_gen/index.js
index 1c3dfec1..112a6403 100644
--- a/rosidl_gen/index.js
+++ b/rosidl_gen/index.js
@@ -55,7 +55,7 @@ async function generateInPaths(paths) {
       generateCppDefinitions(pkgName, pkgInfo, rosIdlDb)
     )
   );
-  await generateTypesupportGypi(pkgsEntries);
+  await generateTypesupportGypi(pkgsEntries, rosIdlDb);
 }
 
 async function generateAll(forcedGenerating) {
diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index 36af7f24..d94683d8 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -6,64 +6,90 @@
 #include "definitions.hpp"
 #include "../../type_conversion.hpp"
 
-{{~ it.dependentMessages : messageInfo}}
-#include "../{{=messageInfo.pkgName}}/definitions.hpp"
-{{~}}
-
 {{~ it.messages : message}}
 #include <{{=it.getRosHeaderField(message.info)}}>
 {{~}}
-{{~ it.dependentMessages : messageInfo}}
-struct {{=it.getStructType(messageInfo)}};
-{{~}}
 
 namespace rclnodejs {
 
 {{~ it.messages : message}}
 NAN_MODULE_INIT(rclnodejs__{{=message.structType}}::Init) {
   auto clazz = Nan::New<v8::FunctionTemplate>();
-  clazz->SetClassName(Nan::New("{{=message.interfaceName}}").ToLocalChecked());
-  clazz->Set(Nan::New("create").ToLocalChecked(), Nan::New<v8::FunctionTemplate>(rclnodejs__{{=message.structType}}::Create));
-  clazz->Set(Nan::New("from").ToLocalChecked(), Nan::New<v8::FunctionTemplate>(rclnodejs__{{=message.structType}}::FromJsObject));
-  clazz->Set(Nan::New("to").ToLocalChecked(), Nan::New<v8::FunctionTemplate>(rclnodejs__{{=message.structType}}::ToJsObject));
+  clazz->SetClassName(Nan::New("{{=message.info.interfaceName}}").ToLocalChecked());
+  clazz->Set(Nan::New("createRosMessage").ToLocalChecked(), Nan::New<v8::FunctionTemplate>(rclnodejs__{{=message.structType}}::CreateRosMessage));
+  clazz->Set(Nan::New("writeRosMessage").ToLocalChecked(), Nan::New<v8::FunctionTemplate>(rclnodejs__{{=message.structType}}::WriteRosMessage));
+  clazz->Set(Nan::New("toJsObject").ToLocalChecked(), Nan::New<v8::FunctionTemplate>(rclnodejs__{{=message.structType}}::ToJsObject));
   Nan::Set(target, Nan::New("{{=message.info.interfaceName}}").ToLocalChecked(), Nan::GetFunction(clazz).ToLocalChecked());
 }
 
-void rclnodejs__{{=message.structType}}::WriteMessage(v8::Local<v8::Object> jsObj, {{=message.structType}}* msg) {
+NAN_METHOD(rclnodejs__{{=message.structType}}::CreateRosMessage) {
+  auto* data = {{=message.structType}}__create();
+  auto buffer = Nan::NewBuffer(reinterpret_cast<char*>(data), sizeof(*data), [](auto* data, auto) {
+    {{=message.structType}}__destroy(reinterpret_cast<{{=message.structType}}*>(data));
+  }, nullptr).ToLocalChecked();
+  info.GetReturnValue().Set(buffer);
+}
+
+NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
+  auto jsObj = Nan::To<v8::Object>(info[0]).ToLocalChecked();
+  auto* buffer = node::Buffer::Data(info[1]);
+  auto offset = Nan::To<uint32_t>(info[2]).ToChecked();
+  auto* msg = reinterpret_cast<{{=message.structType}}*>(buffer + offset);
+  auto typesupport = Nan::To<v8::Object>(info[3]).ToLocalChecked();
+
 {{~ message.spec.fields : field}}
 {{? !it.isInternalField(field)}}
   {
-    // end with underscore so it doesn't conflicts with field names
-    auto js_value_ = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
+    auto js_value = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
 {{
     const jsType = it.getJsType(field.type);
 }}
 {{? jsType === 'number'}}
-    if (!js_value_->IsNumber()) {
-      throw new std::runtime_error("expected {{=field.name}} to be number");
+    if (!js_value->IsNumber()) {
+      Nan::ThrowError(Nan::New("expected {{=field.name}} to be number").ToLocalChecked());
+      info.GetReturnValue().Set(Nan::Undefined());
+      return;
     }
 {{?? jsType === 'string'}}
-    if (!js_value_->IsString()) {
-      throw new std::runtime_error("expected {{=field.name}} to be string");
+    if (!js_value->IsString()) {
+      Nan::ThrowError(Nan::New("expected {{=field.name}} to be string").ToLocalChecked());
+      info.GetReturnValue().Set(Nan::Undefined());
+      return;
     }
 {{?? jsType === 'boolean'}}
-    if (!js_value_->IsBoolean()) {
-      throw new std::runtime_error("expected {{=field.name}} to be boolean");
+    if (!js_value->IsBoolean()) {
+      Nan::ThrowError(Nan::New("expected {{=field.name}} to be boolean").ToLocalChecked());
+      info.GetReturnValue().Set(Nan::Undefined());
+      return;
     }
 {{?? jsType === 'bigint'}}
-    if (!js_value_->IsBigInt()) {
-      throw new std::runtime_error("expected {{=field.name}} to be bigint");
+    if (!js_value->IsBigInt()) {
+      Nan::ThrowError(Nan::New("expected {{=field.name}} to be bigint").ToLocalChecked());
+      info.GetReturnValue().Set(Nan::Undefined());
+      return;
     }
 {{??}}
-    if (!js_value_->IsObject()) {
-      throw new std::runtime_error("expected {{=field.name}} to be {{=field.type.type}} object");
+    if (!js_value->IsObject()) {
+      Nan::ThrowError(Nan::New("expected {{=field.name}} to be {{=field.type.type}} object").ToLocalChecked());
+      info.GetReturnValue().Set(Nan::Undefined());
+      return;
     }
 {{?}}
 {{? !field.type.isArray}}
 {{? field.type.isPrimitiveType}}
-    msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value_);
+    msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value);
 {{??}}
-    rclnodejs__{{=it.getStructTypeFromRosType(field.type)}}::WriteMessage(Nan::To<v8::Object>(js_value_).ToLocalChecked(), &msg->{{=field.name}});
+    {
+      auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+      auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+      auto {{=field.name}}_jsObj = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
+      v8::Local<v8::Value> argv[] = {
+        {{=field.name}}_jsObj,
+        info[1],
+        Nan::New(static_cast<uint32_t>(reinterpret_cast<char*>(&msg->{{=field.name}}) - buffer))
+      };
+      Nan::Call(typesupport_func, Nan::New<v8::Object>(), 3, argv).ToLocalChecked();
+    }
 {{?}}
 {{??}}
     // TODO: handle array types
@@ -71,9 +97,16 @@ void rclnodejs__{{=message.structType}}::WriteMessage(v8::Local<v8::Object> jsOb
   }
 {{?}}
 {{~}}
+
+  info.GetReturnValue().Set(Nan::Undefined());
 }
 
-v8::Local<v8::Object> rclnodejs__{{=message.structType}}::MakeJsObject({{=message.structType}}* msg) {
+NAN_METHOD(rclnodejs__{{=message.structType}}::ToJsObject) {
+  auto* buffer = node::Buffer::Data(info[0]);
+  uint32_t offset = Nan::To<uint32_t>(info[1]).ToChecked();
+  auto* msg = reinterpret_cast<{{=message.structType}}*>(buffer + offset);
+  auto typesupport = Nan::To<v8::Object>(info[2]).ToLocalChecked();
+
   auto jsObj = Nan::New<v8::Object>();
 {{~ message.spec.fields : field}}
 {{? !it.isInternalField(field)}}
@@ -81,46 +114,23 @@ v8::Local<v8::Object> rclnodejs__{{=message.structType}}::MakeJsObject({{=messag
 {{? field.type.isPrimitiveType}}
   Nan::Set(jsObj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsChecked(msg->{{=field.name}}));
 {{??}}
-  Nan::Set(jsObj,Nan::New("{{=field.name}}").ToLocalChecked(), rclnodejs__{{=it.getStructTypeFromRosType(field.type)}}::MakeJsObject(&msg->{{=field.name}}));
+  {
+    auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("toJsObject").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    v8::Local<v8::Value> argv[] = {
+      info[0],
+      Nan::New(static_cast<uint32_t>(reinterpret_cast<char*>(&msg->{{=field.name}}) - buffer))
+    };
+    auto {{=field.name}}_jsObj = Nan::Call(typesupport_func, Nan::New<v8::Object>(), 2, argv).ToLocalChecked();
+    Nan::Set(jsObj, Nan::New("{{=field.name}}").ToLocalChecked(), {{=field.name}}_jsObj);
+  }
 {{?}}
 {{??}}
   // TODO: handle array
 {{?}}
 {{?}}
 {{~}}
-  return jsObj;
-}
-
-NAN_METHOD(rclnodejs__{{=message.structType}}::Create) {
-  auto* data = {{=message.structType}}__create();
-  auto buffer = Nan::NewBuffer(reinterpret_cast<char*>(data), sizeof(*data), [](auto* data, auto) {
-    {{=message.structType}}__destroy(reinterpret_cast<{{=message.structType}}*>(data));
-  }, nullptr).ToLocalChecked();
-  info.GetReturnValue().Set(buffer);
-}
-
-NAN_METHOD(rclnodejs__{{=message.structType}}::FromJsObject) {
-  auto jsObj = Nan::To<v8::Object>(info[0]).ToLocalChecked();
-  auto* msg = {{=message.structType}}__create();
-
-  try {
-    rclnodejs__{{=message.structType}}::WriteMessage(jsObj, msg);
-  } catch (const std::runtime_error& e) {
-    Nan::ThrowError(Nan::New(e.what()).ToLocalChecked());
-    info.GetReturnValue().Set(Nan::Undefined());
-    return;
-  }
-
-  auto buffer = Nan::NewBuffer(reinterpret_cast<char*>(msg), sizeof(*msg), [](auto* msg, auto) {
-    {{=message.structType}}__destroy(reinterpret_cast<{{=message.structType}}*>(msg));
-  }, nullptr).ToLocalChecked();
-  info.GetReturnValue().Set(buffer);
-}
-
-NAN_METHOD(rclnodejs__{{=message.structType}}::ToJsObject) {
-  auto* buffer = node::Buffer::Data(info[0]);
-  auto* msg = reinterpret_cast<{{=message.structType}}*>(buffer);
-  info.GetReturnValue().Set(rclnodejs__{{=message.structType}}::MakeJsObject(msg));
+  info.GetReturnValue().Set(jsObj);
 }
 
 {{~}}
diff --git a/rosidl_gen/templates/cppDefinitionsHeader.dot b/rosidl_gen/templates/cppDefinitionsHeader.dot
index b6585174..aa500a3e 100644
--- a/rosidl_gen/templates/cppDefinitionsHeader.dot
+++ b/rosidl_gen/templates/cppDefinitionsHeader.dot
@@ -8,10 +8,6 @@
 
 #include <nan.h>
 
-{{~ it.messages : message}}
-struct {{=message.structType}};
-{{~}}
-
 namespace rclnodejs {
 
 {{~ it.messages : message }}
@@ -19,17 +15,10 @@ class rclnodejs__{{=message.structType}} {
  public:
   static NAN_MODULE_INIT(Init);
 
-  static void WriteMessage(v8::Local<v8::Object> jsObj, {{=message.structType}}* msg);
-
-  /**
-   * Must be called within a v8 scope
-   */
-  static v8::Local<v8::Object> MakeJsObject({{=message.structType}}* msg);
-
  private:
-  static NAN_METHOD(Create);
+  static NAN_METHOD(CreateRosMessage);
 
-  static NAN_METHOD(FromJsObject);
+  static NAN_METHOD(WriteRosMessage);
 
   static NAN_METHOD(ToJsObject);
 };
diff --git a/rosidl_gen/templates/message.dot b/rosidl_gen/templates/message.dot
index e36e1ae8..f99ef7ce 100644
--- a/rosidl_gen/templates/message.dot
+++ b/rosidl_gen/templates/message.dot
@@ -225,11 +225,15 @@ const ArrayType = require('ref-array-di')(ref);
 const primitiveTypes = require('../../rosidl_gen/primitive_types.js');
 const deallocator = require('../../rosidl_gen/deallocator.js');
 const translator = require('../../rosidl_gen/message_translator.js');
-const typesupport = require('bindings')('{{=it.messageInfo.pkgName}}').{{=it.messageInfo.interfaceName}};
+const typesupport = require('bindings')('{{=it.messageInfo.pkgName}}__rosidl_node').{{=it.messageInfo.interfaceName}};
 
+const typesupportDeps = {};
 {{~ it.spec.fields :field}}
 {{? shouldRequire(it.spec.baseType, field.type)}}
 const {{=getWrapperNameByType(field.type)}} = require('../../generated/{{=getPackageNameByType(field.type)}}/{{=getModulePathByType(field.type, it.messageInfo)}}');
+{{? field.type.pkgName}}
+typesupportDeps['{{=field.type.pkgName}}/{{=field.type.type}}'] = {{=getWrapperNameByType(field.type)}};
+{{?}}
 {{?}}
 {{~}}
 
@@ -358,15 +362,21 @@ class {{=objectWrapper}} {
   }
 
   static createRosMessage() {
-    return typesupport.create();
+    return typesupport.createRosMessage();
+  }
+
+  static toJsObject(buffer, offset = 0) {
+    return typesupport.toJsObject(buffer, offset, typesupportDeps);
   }
 
-  static rosMessageToObj(rosMsg) {
-    return typesupport.to(rosMsg);
+  static toRosMessage(obj) {
+    const rosMessage = {{=objectWrapper}}.createRosMessage();
+    {{=objectWrapper}}.writeRosMessage(obj, rosMessage, 0);
+    return rosMessage;
   }
 
-  static rosMessageFromObj(obj) {
-    return typesupport.from(obj);
+  static writeRosMessage(obj, buffer, offset) {
+    typesupport.writeRosMessage(obj, buffer, 0, typesupportDeps);
   }
 
   toRawROS() {
diff --git a/rosidl_gen/templates/typesupportGypi.dot b/rosidl_gen/templates/typesupportGypi.dot
index 23e2b8f7..0b732b9d 100644
--- a/rosidl_gen/templates/typesupportGypi.dot
+++ b/rosidl_gen/templates/typesupportGypi.dot
@@ -2,13 +2,13 @@
   'targets': [
 {{~ it.pkgs : pkg}}
     {
-      'target_name': '{{=pkg.pkgName}}',
+      'target_name': '{{=pkg.pkgName}}__rosidl_node',
       'sources': [
         '{{=pkg.pkgName}}/definitions.cpp',
       ],
       'link_settings': {
         'libraries': [
-{{~ pkg.typesupportLibs : lib}}
+{{~ pkg.linkLibraries : lib}}
           '-l{{=lib}}',
 {{~}}
         ],

From ccc93704ea306ec776c7d885cf7d4a632b8441e5 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 8 Dec 2020 11:46:33 +0800
Subject: [PATCH 14/64] fix not using offset

---
 rosidl_gen/templates/message.dot | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rosidl_gen/templates/message.dot b/rosidl_gen/templates/message.dot
index f99ef7ce..fa6a3dbe 100644
--- a/rosidl_gen/templates/message.dot
+++ b/rosidl_gen/templates/message.dot
@@ -376,7 +376,7 @@ class {{=objectWrapper}} {
   }
 
   static writeRosMessage(obj, buffer, offset) {
-    typesupport.writeRosMessage(obj, buffer, 0, typesupportDeps);
+    typesupport.writeRosMessage(obj, buffer, offset, typesupportDeps);
   }
 
   toRawROS() {

From 01685fea20183f9d9c594d49b55e097e0cd66162 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 8 Dec 2020 11:46:43 +0800
Subject: [PATCH 15/64] benchmark c struct conversion

---
 .../rclnodejs/message/c-struct-to-js-obj.js   | 68 +++++++++++++++++++
 1 file changed, 68 insertions(+)
 create mode 100644 benchmark/rclnodejs/message/c-struct-to-js-obj.js

diff --git a/benchmark/rclnodejs/message/c-struct-to-js-obj.js b/benchmark/rclnodejs/message/c-struct-to-js-obj.js
new file mode 100644
index 00000000..27bbe878
--- /dev/null
+++ b/benchmark/rclnodejs/message/c-struct-to-js-obj.js
@@ -0,0 +1,68 @@
+'use strict';
+
+/**
+ * Benchmarks the performance in converting from native C struct to javascript objects.
+ * Requires the ros package "test_msgs" to be available.
+ */
+const app = require('commander');
+
+app.option('-r, --runs <n>', 'Number of times to run').parse(process.argv);
+const runs = app.runs || 1;
+
+const BasicTypes = require('../../../generated/test_msgs/test_msgs__msg__BasicTypes');
+
+if (process.env.RCLNODEJS_USE_ROS_MESSAGE) {
+  const rosMessage = BasicTypes.toRosMessage({
+    bool_value: false,
+    byte_value: 0,
+    char_value: 0,
+    float32_value: 0,
+    float64_value: 0,
+    int8_value: 0,
+    uint8_value: 0,
+    int16_value: 0,
+    uint16_value: 0,
+    int32_value: 0,
+    uint32_value: 0,
+    int64_value: BigInt(0),
+    uint64_value: BigInt(0),
+  });
+  const startTime = process.hrtime();
+  for (let i = 0; i < runs; i++) {
+    BasicTypes.toJsObject(rosMessage);
+  }
+  const timeTaken = process.hrtime(startTime);
+  console.log(
+    `Benchmark took ${timeTaken[0]} seconds and ${Math.ceil(
+      timeTaken[1] / 1000000
+    )} milliseconds.`
+  );
+} else {
+  const msg = new BasicTypes({
+    bool_value: false,
+    byte_value: 0,
+    char_value: 0,
+    float32_value: 0,
+    float64_value: 0,
+    int8_value: 0,
+    uint8_value: 0,
+    int16_value: 0,
+    uint16_value: 0,
+    int32_value: 0,
+    uint32_value: 0,
+    int64_value: 0,
+    uint64_value: 0,
+  });
+  msg.freeze();
+  const rawMessage = msg._refObject;
+  const startTime = process.hrtime();
+  for (let i = 0; i < runs; i++) {
+    msg.deserialize(rawMessage);
+  }
+  const timeTaken = process.hrtime(startTime);
+  console.log(
+    `Benchmark took ${timeTaken[0]} seconds and ${Math.ceil(
+      timeTaken[1] / 1000000
+    )} milliseconds.`
+  );
+}

From d6e5a6612222c53e14bed140cde254dcfd7028e8 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 8 Dec 2020 12:17:46 +0800
Subject: [PATCH 16/64] conditionally use rosidl provider at compile time

---
 lib/node.js                      |  3 +-
 lib/subscription.js              |  3 +-
 rosidl_gen/idl_generator.js      | 63 +++++++++++++++++++++++---------
 rosidl_gen/index.js              | 22 +++++++----
 rosidl_gen/templates/message.dot |  6 ++-
 5 files changed, 69 insertions(+), 28 deletions(-)

diff --git a/lib/node.js b/lib/node.js
index 88c0b410..38331017 100644
--- a/lib/node.js
+++ b/lib/node.js
@@ -37,6 +37,7 @@ const Service = require('./service.js');
 const Subscription = require('./subscription.js');
 const TimeSource = require('./time_source.js');
 const Timer = require('./timer.js');
+const generateOptions = require('../generated/generator-options');
 
 // Parameter event publisher constants
 const PARAMETER_EVENT_MSG_TYPE = 'rcl_interfaces/msg/ParameterEvent';
@@ -1520,7 +1521,7 @@ class Node {
    * @returns {undefined}
    */
   _runWithMessageType(Type, callback) {
-    if (process.env.RCLNODEJS_USE_ROS_MESSAGE) {
+    if (generatorOptions.idlProvider === 'rosidl') {
       let message = Type.createRosMessage();
       callback(message, () => Type.toJsObject(message));
     } else {
diff --git a/lib/subscription.js b/lib/subscription.js
index 0fce3749..b78594cd 100644
--- a/lib/subscription.js
+++ b/lib/subscription.js
@@ -17,6 +17,7 @@
 const rclnodejs = require('bindings')('rclnodejs');
 const Entity = require('./entity.js');
 const debug = require('debug')('rclnodejs:subscription');
+const generatorOptions = require('../generated/generator-options');
 
 /**
  * @class - Class representing a Subscription in ROS
@@ -36,7 +37,7 @@ class Subscription extends Entity {
     if (this._isRaw) {
       this._callback(msg);
     } else {
-      if (process.env.RCLNODEJS_USE_ROS_MESSAGE) {
+      if (generatorOptions.idlProvider === 'rosidl') {
         this._callback(msg);
       } else {
         this._callback(msg.toPlainObject(this.typedArrayEnabled));
diff --git a/rosidl_gen/idl_generator.js b/rosidl_gen/idl_generator.js
index d8f23dfc..b3830e73 100644
--- a/rosidl_gen/idl_generator.js
+++ b/rosidl_gen/idl_generator.js
@@ -230,12 +230,17 @@ function generateServiceJSStruct(serviceInfo, dir) {
   return writeGeneratedCode(dir, fileName, generatedCode);
 }
 
-async function generateMessageJSStruct(messageInfo, dir, rosIdlDb) {
+async function generateMessageJSStruct(messageInfo, dir, rosIdlDb, options) {
   const spec = await rosIdlDb.getMessageSpec(messageInfo);
-  await generateMessageJSStructFromSpec(messageInfo, dir, spec);
+  await generateMessageJSStructFromSpec(messageInfo, dir, spec, options);
 }
 
-async function generateMessageJSStructFromSpec(messageInfo, dir, spec) {
+async function generateMessageJSStructFromSpec(
+  messageInfo,
+  dir,
+  spec,
+  options
+) {
   dir = path.join(dir, `${spec.baseType.pkgName}`);
   const fileName =
     spec.baseType.pkgName +
@@ -250,6 +255,7 @@ async function generateMessageJSStructFromSpec(messageInfo, dir, spec) {
       messageInfo: messageInfo,
       spec: spec,
       json: JSON.stringify(spec, null, '  '),
+      options,
     })
   );
   return writeGeneratedCode(dir, fileName, generatedCode);
@@ -294,7 +300,11 @@ function isServiceMessage(messageInfo) {
 }
 
 // All messages are combined in one cpp file to improve compile time.
-async function generateCppDefinitions(pkgName, pkgInfo, rosIdlDb) {
+async function generateCppDefinitions(pkgName, pkgInfo, rosIdlDb, options) {
+  if (options.idlProvider !== 'rosidl') {
+    return;
+  }
+
   const getStructType = (messageInfo) => {
     return `${messageInfo.pkgName}__${messageInfo.subFolder}__${messageInfo.interfaceName}`;
   };
@@ -355,7 +365,7 @@ async function generateCppDefinitions(pkgName, pkgInfo, rosIdlDb) {
   await fs.writeFile(path.join(outputDir, 'definitions.hpp'), header);
 }
 
-async function generateActionJSStruct(actionInfo, dir) {
+async function generateActionJSStruct(actionInfo, dir, options) {
   const spec = await parser.parseActionFile(
     actionInfo.pkgName,
     actionInfo.filePath
@@ -368,7 +378,8 @@ async function generateActionJSStruct(actionInfo, dir) {
       interfaceName: `${actionInfo.interfaceName}_Goal`,
     },
     dir,
-    spec.goal
+    spec.goal,
+    options
   );
 
   const resultMsg = generateMessageJSStructFromSpec(
@@ -378,7 +389,8 @@ async function generateActionJSStruct(actionInfo, dir) {
       interfaceName: `${actionInfo.interfaceName}_Result`,
     },
     dir,
-    spec.result
+    spec.result,
+    options
   );
 
   const feedbackMsg = generateMessageJSStructFromSpec(
@@ -388,7 +400,8 @@ async function generateActionJSStruct(actionInfo, dir) {
       interfaceName: `${actionInfo.interfaceName}_Feedback`,
     },
     dir,
-    spec.feedback
+    spec.feedback,
+    options
   );
 
   const sendGoalRequestSpec = actionMsgs.createSendGoalRequestSpec(
@@ -402,7 +415,8 @@ async function generateActionJSStruct(actionInfo, dir) {
       interfaceName: `${actionInfo.interfaceName}_SendGoal_Request`,
     },
     dir,
-    sendGoalRequestSpec
+    sendGoalRequestSpec,
+    options
   );
 
   const sendGoalResponseSpec = actionMsgs.createSendGoalResponseSpec(
@@ -416,7 +430,8 @@ async function generateActionJSStruct(actionInfo, dir) {
       interfaceName: `${actionInfo.interfaceName}_SendGoal_Response`,
     },
     dir,
-    sendGoalResponseSpec
+    sendGoalResponseSpec,
+    options
   );
 
   const sendGoalSrv = generateServiceJSStruct(
@@ -439,7 +454,8 @@ async function generateActionJSStruct(actionInfo, dir) {
       interfaceName: `${actionInfo.interfaceName}_GetResult_Request`,
     },
     dir,
-    getResultRequestSpec
+    getResultRequestSpec,
+    options
   );
 
   const getResultResponseSpec = actionMsgs.createGetResultResponseSpec(
@@ -453,7 +469,8 @@ async function generateActionJSStruct(actionInfo, dir) {
       interfaceName: `${actionInfo.interfaceName}_GetResult_Response`,
     },
     dir,
-    getResultResponseSpec
+    getResultResponseSpec,
+    options
   );
 
   const getResultSrv = generateServiceJSStruct(
@@ -476,7 +493,8 @@ async function generateActionJSStruct(actionInfo, dir) {
       interfaceName: `${actionInfo.interfaceName}_FeedbackMessage`,
     },
     dir,
-    feedbackMessageSpec
+    feedbackMessageSpec,
+    options
   );
 
   const fileName =
@@ -507,19 +525,30 @@ async function generateActionJSStruct(actionInfo, dir) {
   ]);
 }
 
-async function generateJSStructFromIDL(pkg, dir, rosIdlDb) {
+async function generateJSStructFromIDL(pkg, dir, rosIdlDb, options) {
   await Promise.all([
     ...pkg.messages.map((messageInfo) =>
-      generateMessageJSStruct(messageInfo, dir, rosIdlDb)
+      generateMessageJSStruct(messageInfo, dir, rosIdlDb, options)
     ),
     ...pkg.services.map((serviceInfo) =>
       generateServiceJSStruct(serviceInfo, dir)
     ),
-    ...pkg.actions.map((actionInfo) => generateActionJSStruct(actionInfo, dir)),
+    ...pkg.actions.map((actionInfo) =>
+      generateActionJSStruct(actionInfo, dir, options)
+    ),
   ]);
 }
 
-async function generateTypesupportGypi(pkgsEntries, rosIdlDb) {
+async function generateTypesupportGypi(pkgsEntries, rosIdlDb, options) {
+  await fs.mkdir(path.join('src', 'generated'), { recursive: true });
+  if (options.idlProvider !== 'rosidl') {
+    await fs.writeFile(
+      path.join('src', 'generated', 'typesupport.gypi'),
+      '# not using rosidl\n{}'
+    );
+    return;
+  }
+
   const pkgs = await Promise.all(
     pkgsEntries.map(async ([pkgName, pkgInfo]) => ({
       pkgName,
diff --git a/rosidl_gen/index.js b/rosidl_gen/index.js
index 112a6403..625095aa 100644
--- a/rosidl_gen/index.js
+++ b/rosidl_gen/index.js
@@ -14,6 +14,7 @@
 
 'use strict';
 
+const fsp = require('fs').promises;
 const fse = require('fs-extra');
 const {
   RosIdlDb,
@@ -29,7 +30,7 @@ const installedPackagePaths = process.env.AMENT_PREFIX_PATH.split(
   path.delimiter
 );
 
-async function generateInPaths(paths) {
+async function generateInPaths(paths, options) {
   const pkgsInPaths = await Promise.all(
     paths.map((path) => packages.findPackagesInDirectory(path))
   );
@@ -47,15 +48,16 @@ async function generateInPaths(paths) {
 
   await Promise.all(
     pkgsInfo.map((pkgInfo) =>
-      generateJSStructFromIDL(pkgInfo, generatedRoot, rosIdlDb)
+      generateJSStructFromIDL(pkgInfo, generatedRoot, rosIdlDb, options)
     )
   );
+
   await Promise.all(
     pkgsEntries.map(([pkgName, pkgInfo]) =>
-      generateCppDefinitions(pkgName, pkgInfo, rosIdlDb)
+      generateCppDefinitions(pkgName, pkgInfo, rosIdlDb, options)
     )
   );
-  await generateTypesupportGypi(pkgsEntries, rosIdlDb);
+  await generateTypesupportGypi(pkgsEntries, rosIdlDb, options);
 }
 
 async function generateAll(forcedGenerating) {
@@ -68,10 +70,14 @@ async function generateAll(forcedGenerating) {
       path.join(__dirname, 'generator.json'),
       path.join(generatedRoot, 'generator.json')
     );
-    await generateInPaths(installedPackagePaths);
-    // await Promise.all(
-    //   installedPackagePaths.map((path) => generateInPath(path))
-    // );
+    const options = {
+      idlProvider: process.env.RCLNODEJS_USE_ROSIDL ? 'rosidl' : 'ref',
+    };
+    await generateInPaths(installedPackagePaths, options);
+    await fsp.writeFile(
+      path.join(generatedRoot, 'generator-options.js'),
+      `module.export = ${JSON.stringify(options)}`
+    );
   }
 }
 
diff --git a/rosidl_gen/templates/message.dot b/rosidl_gen/templates/message.dot
index fa6a3dbe..4f86d91f 100644
--- a/rosidl_gen/templates/message.dot
+++ b/rosidl_gen/templates/message.dot
@@ -225,13 +225,15 @@ const ArrayType = require('ref-array-di')(ref);
 const primitiveTypes = require('../../rosidl_gen/primitive_types.js');
 const deallocator = require('../../rosidl_gen/deallocator.js');
 const translator = require('../../rosidl_gen/message_translator.js');
+{{? it.options.idlProvider === 'rosidl'}}
 const typesupport = require('bindings')('{{=it.messageInfo.pkgName}}__rosidl_node').{{=it.messageInfo.interfaceName}};
+{{?}}
 
 const typesupportDeps = {};
 {{~ it.spec.fields :field}}
 {{? shouldRequire(it.spec.baseType, field.type)}}
 const {{=getWrapperNameByType(field.type)}} = require('../../generated/{{=getPackageNameByType(field.type)}}/{{=getModulePathByType(field.type, it.messageInfo)}}');
-{{? field.type.pkgName}}
+{{? it.options.idlProvider === 'rosidl' && field.type.pkgName}}
 typesupportDeps['{{=field.type.pkgName}}/{{=field.type.type}}'] = {{=getWrapperNameByType(field.type)}};
 {{?}}
 {{?}}
@@ -361,6 +363,7 @@ class {{=objectWrapper}} {
     return {{=refObjectType}};
   }
 
+{{? it.options.idlProvider === 'rosidl'}}
   static createRosMessage() {
     return typesupport.createRosMessage();
   }
@@ -378,6 +381,7 @@ class {{=objectWrapper}} {
   static writeRosMessage(obj, buffer, offset) {
     typesupport.writeRosMessage(obj, buffer, offset, typesupportDeps);
   }
+{{?}}
 
   toRawROS() {
     this.freeze(true);

From 74d2dcb1e5bb5fe7255ebcc320b698d9f9206528 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 8 Dec 2020 12:21:41 +0800
Subject: [PATCH 17/64] use parallel build

---
 package.json     | 2 +-
 scripts/build.js | 7 +++++++
 2 files changed, 8 insertions(+), 1 deletion(-)
 create mode 100644 scripts/build.js

diff --git a/package.json b/package.json
index a9b87e73..e332cd6a 100644
--- a/package.json
+++ b/package.json
@@ -13,7 +13,7 @@
     "typescript"
   ],
   "scripts": {
-    "install": "node scripts/generate_messages.js && node-gyp rebuild",
+    "install": "node scripts/generate_messages.js && node scripts/build.js",
     "docs": "cd docs && make",
     "test": "node ./scripts/compile_tests.js && node --expose-gc ./scripts/run_test.js && npm run dtslint",
     "dtslint": "node ./scripts/generate_tsd.js && dtslint test/types",
diff --git a/scripts/build.js b/scripts/build.js
new file mode 100644
index 00000000..9254ed15
--- /dev/null
+++ b/scripts/build.js
@@ -0,0 +1,7 @@
+const childprocess = require('child_process');
+const os = require('os');
+
+process.env.JOBS = os.cpus().length;
+childprocess.execSync('node-gyp rebuild', {
+  stdio: 'inherit',
+});

From c8fcbcc8bde5be2ca0fabf2e928b6a36cddfea75 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Wed, 9 Dec 2020 09:43:16 +0800
Subject: [PATCH 18/64] fix strings

---
 lib/publisher.js        | 26 ++++++++++++++++----------
 rosidl_gen/index.js     |  8 ++++++--
 src/type_conversion.hpp |  1 +
 3 files changed, 23 insertions(+), 12 deletions(-)

diff --git a/lib/publisher.js b/lib/publisher.js
index 7342c3c1..c34ef03b 100644
--- a/lib/publisher.js
+++ b/lib/publisher.js
@@ -17,6 +17,7 @@
 const rclnodejs = require('bindings')('rclnodejs');
 const debug = require('debug')('rclnodejs:publisher');
 const Entity = require('./entity.js');
+const generatorOptions = require('../generated/generator-options');
 
 /**
  * @class - Class representing a Publisher in ROS
@@ -46,17 +47,22 @@ class Publisher extends Entity {
     if (message instanceof Buffer) {
       rclnodejs.publishRawMessage(this._handle, message);
     } else {
-      // Enables call by plain object/number/string argument
-      //  e.g. publisher.publish(3.14);
-      //       publisher.publish('The quick brown fox...');
-      //       publisher.publish({linear: {x: 0, y: 1, z: 2}, ...});
-      let messageToSend =
-        message instanceof this._typeClass
-          ? message
-          : new this._typeClass(message);
+      if (generatorOptions.idlProvider === 'rosidl') {
+        let rawMessage = this._typeClass.toRosMessage(message);
+        rclnodejs.publish(this._handle, rawMessage);
+      } else {
+        // Enables call by plain object/number/string argument
+        //  e.g. publisher.publish(3.14);
+        //       publisher.publish('The quick brown fox...');
+        //       publisher.publish({linear: {x: 0, y: 1, z: 2}, ...});
+        let messageToSend =
+          message instanceof this._typeClass
+            ? message
+            : new this._typeClass(message);
 
-      let rawMessage = messageToSend.serialize();
-      rclnodejs.publish(this._handle, rawMessage);
+        let rawMessage = messageToSend.serialize();
+        rclnodejs.publish(this._handle, rawMessage);
+      }
     }
 
     debug(`Message of topic ${this.topic} has been published.`);
diff --git a/rosidl_gen/index.js b/rosidl_gen/index.js
index 625095aa..8cc53241 100644
--- a/rosidl_gen/index.js
+++ b/rosidl_gen/index.js
@@ -71,12 +71,16 @@ async function generateAll(forcedGenerating) {
       path.join(generatedRoot, 'generator.json')
     );
     const options = {
-      idlProvider: process.env.RCLNODEJS_USE_ROSIDL ? 'rosidl' : 'ref',
+      idlProvider:
+        process.env.RCLNODEJS_USE_ROSIDL &&
+        process.env.RCLNODEJS_USE_ROSIDL !== '0'
+          ? 'rosidl'
+          : 'ref',
     };
     await generateInPaths(installedPackagePaths, options);
     await fsp.writeFile(
       path.join(generatedRoot, 'generator-options.js'),
-      `module.export = ${JSON.stringify(options)}`
+      `module.exports = ${JSON.stringify(options)}`
     );
   }
 }
diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index 3f58fe58..289e949e 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -59,6 +59,7 @@ inline rosidl_runtime_c__String ToNativeChecked<rosidl_runtime_c__String>(
     throw std::runtime_error("failed to convert value to string");
   }
   rosidl_runtime_c__String ros_string;
+  rosidl_runtime_c__String__init(&ros_string);
   rosidl_runtime_c__String__assign(&ros_string, *utf8);
   return ros_string;
 }

From 750f1c84f2b2f6026c5a523fcd504a6782e16e96 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Wed, 9 Dec 2020 18:50:31 +0800
Subject: [PATCH 19/64] add js to c benchmark

---
 .../rclnodejs/message/c-struct-to-js-obj.js   |  3 +-
 .../rclnodejs/message/js-obj-to-c-struct.js   | 68 +++++++++++++++++++
 2 files changed, 70 insertions(+), 1 deletion(-)
 create mode 100644 benchmark/rclnodejs/message/js-obj-to-c-struct.js

diff --git a/benchmark/rclnodejs/message/c-struct-to-js-obj.js b/benchmark/rclnodejs/message/c-struct-to-js-obj.js
index 27bbe878..3477006f 100644
--- a/benchmark/rclnodejs/message/c-struct-to-js-obj.js
+++ b/benchmark/rclnodejs/message/c-struct-to-js-obj.js
@@ -5,13 +5,14 @@
  * Requires the ros package "test_msgs" to be available.
  */
 const app = require('commander');
+const generatorOptions = require('../../../generated/generator-options');
 
 app.option('-r, --runs <n>', 'Number of times to run').parse(process.argv);
 const runs = app.runs || 1;
 
 const BasicTypes = require('../../../generated/test_msgs/test_msgs__msg__BasicTypes');
 
-if (process.env.RCLNODEJS_USE_ROS_MESSAGE) {
+if (generatorOptions.idlProvider === 'rosidl') {
   const rosMessage = BasicTypes.toRosMessage({
     bool_value: false,
     byte_value: 0,
diff --git a/benchmark/rclnodejs/message/js-obj-to-c-struct.js b/benchmark/rclnodejs/message/js-obj-to-c-struct.js
new file mode 100644
index 00000000..f7c77398
--- /dev/null
+++ b/benchmark/rclnodejs/message/js-obj-to-c-struct.js
@@ -0,0 +1,68 @@
+'use strict';
+
+/**
+ * Benchmarks the performance in converting from to javascript objects to native C structs.
+ * Requires the ros package "test_msgs" to be available.
+ */
+const app = require('commander');
+const generatorOptions = require('../../../generated/generator-options');
+
+app.option('-r, --runs <n>', 'Number of times to run').parse(process.argv);
+const runs = app.runs || 1;
+
+const BasicTypes = require('../../../generated/test_msgs/test_msgs__msg__BasicTypes');
+
+if (generatorOptions.idlProvider === 'rosidl') {
+  const jsObj = {
+    bool_value: false,
+    byte_value: 0,
+    char_value: 0,
+    float32_value: 0,
+    float64_value: 0,
+    int8_value: 0,
+    uint8_value: 0,
+    int16_value: 0,
+    uint16_value: 0,
+    int32_value: 0,
+    uint32_value: 0,
+    int64_value: BigInt(0),
+    uint64_value: BigInt(0),
+  };
+  const startTime = process.hrtime();
+  for (let i = 0; i < runs; i++) {
+    BasicTypes.toRosMessage(jsObj);
+  }
+  const timeTaken = process.hrtime(startTime);
+  console.log(
+    `Benchmark took ${timeTaken[0]} seconds and ${Math.ceil(
+      timeTaken[1] / 1000000
+    )} milliseconds.`
+  );
+} else {
+  const jsObj = {
+    bool_value: false,
+    byte_value: 0,
+    char_value: 0,
+    float32_value: 0,
+    float64_value: 0,
+    int8_value: 0,
+    uint8_value: 0,
+    int16_value: 0,
+    uint16_value: 0,
+    int32_value: 0,
+    uint32_value: 0,
+    int64_value: 0,
+    uint64_value: 0,
+  };
+  const startTime = process.hrtime();
+  for (let i = 0; i < runs; i++) {
+    const msg = new BasicTypes(jsObj);
+    msg.serialize();
+  }
+  const timeTaken = process.hrtime(startTime);
+  console.log(
+    `Benchmark took ${timeTaken[0]} seconds and ${Math.ceil(
+      timeTaken[1] / 1000000
+    )} milliseconds.`
+  );
+}

From a413620abc6fe031b13d80c3539329f7e1393bae Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Thu, 10 Dec 2020 12:12:00 +0800
Subject: [PATCH 20/64] update benchmark with no zerocopy mode

---
 benchmark/rclnodejs/message/c-struct-to-js-obj.js | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/benchmark/rclnodejs/message/c-struct-to-js-obj.js b/benchmark/rclnodejs/message/c-struct-to-js-obj.js
index 3477006f..3c82b8ec 100644
--- a/benchmark/rclnodejs/message/c-struct-to-js-obj.js
+++ b/benchmark/rclnodejs/message/c-struct-to-js-obj.js
@@ -56,9 +56,12 @@ if (generatorOptions.idlProvider === 'rosidl') {
   });
   msg.freeze();
   const rawMessage = msg._refObject;
+  const deserializeFunc = process.env.RCLNODEJS_NO_ZEROCOPY
+    ? (rawMessage) => msg.toPlainObject(msg.deserialize(rawMessage))
+    : (rawMessage) => msg.deserialize(rawMessage);
   const startTime = process.hrtime();
   for (let i = 0; i < runs; i++) {
-    msg.deserialize(rawMessage);
+    deserializeFunc(rawMessage);
   }
   const timeTaken = process.hrtime(startTime);
   console.log(

From 5a29f193c49827d3768490bc98607fe8e4842d27 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Thu, 10 Dec 2020 14:52:30 +0800
Subject: [PATCH 21/64] more strict type checking

---
 rosidl_gen/templates/cppDefinitions.dot |  57 +++++++++-
 src/type_conversion.hpp                 | 142 ++++++++++++++++++++----
 2 files changed, 176 insertions(+), 23 deletions(-)

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index d94683d8..5b84bfdc 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -10,6 +10,8 @@
 #include <{{=it.getRosHeaderField(message.info)}}>
 {{~}}
 
+#include <type_traits>
+
 namespace rclnodejs {
 
 {{~ it.messages : message}}
@@ -44,6 +46,7 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
 {{
     const jsType = it.getJsType(field.type);
 }}
+{{? !field.type.isArray}}
 {{? jsType === 'number'}}
     if (!js_value->IsNumber()) {
       Nan::ThrowError(Nan::New("expected {{=field.name}} to be number").ToLocalChecked());
@@ -75,9 +78,14 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
       return;
     }
 {{?}}
-{{? !field.type.isArray}}
 {{? field.type.isPrimitiveType}}
-    msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value);
+    try {
+      msg->{{=field.name}} = ToNative<decltype(msg->{{=field.name}})>(js_value);
+    } catch (TypeError e) {
+      Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
+      info.GetReturnValue().Set(Nan::Undefined());
+      return;
+    }
 {{??}}
     {
       auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
@@ -92,7 +100,50 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
     }
 {{?}}
 {{??}}
-    // TODO: handle array types
+{{? field.type.isPrimitiveTypeasd}}
+    if (!js_value->IsArray()) {
+      Nan::ThrowError(Nan::New("expected {{=field.name}} to be an array").ToLocalChecked());
+      info.GetReturnValue().Set(Nan::Undefined());
+      return;
+    }
+    auto js_array = js_value.As<v8::Array>();
+{{? field.type.isFixedSizeArray}}
+    if (js_array->Length() != {{=field.type.arraySize}}) {
+      Nan::ThrowError(Nan::New("expected {{=field.name}} to have length {{=field.type.arraySize}}").ToLocalChecked());
+      info.GetReturnValue().Set(Nan::Undefined());
+      return;
+    }
+
+    for (uint32_t i = 0; i < {{=field.type.arraySize}}; ++i) {
+{{? field.type.type === 'string'}}
+      try {
+        msg->{{=field.name}}[i] = ToNative<rosidl_runtime_c__String>(Nan::Get(js_array, i).ToLocalChecked());
+      } catch (TypeError e) {
+        Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
+        info.GetReturnValue().Set(Nan::Undefined());
+        return;
+      }
+    }
+{{??}}
+      msg->{{=field.name}}[i] = ToNative<std::decay_t<decltype(msg->{{=field.name}})>>(Nan::Get(js_array, i).ToLocalChecked());
+{{?}}
+    }
+{{??}}
+    // TODO: handle sequences
+{{?}}
+{{??}}
+    {
+      auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}__Sequence").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+      auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+      auto {{=field.name}}_jsObj = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
+      v8::Local<v8::Value> argv[] = {
+        {{=field.name}}_jsObj,
+        info[1],
+        Nan::New(static_cast<uint32_t>(reinterpret_cast<char*>(&msg->{{=field.name}}) - buffer))
+      };
+      Nan::Call(typesupport_func, Nan::New<v8::Object>(), 3, argv).ToLocalChecked();
+    }
+{{?}}
 {{?}}
   }
 {{?}}
diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index 289e949e..c111b348 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -7,53 +7,155 @@
 #include <rosidl_runtime_c/u16string.h>
 #include <rosidl_runtime_c/u16string_functions.h>
 
+#include <exception>
+#include <limits>
+#include <sstream>
+#include <string>
+#include <vector>
+
 namespace rclnodejs {
 
+class TypeError : public std::exception {
+ public:
+  explicit TypeError(const std::vector<std::string>& expected_types) {
+    std::ostringstream oss;
+    for (size_t i = 0; i < expected_types.size() - 1; ++i) {
+      oss << expected_types[i] << " or ";
+    }
+    oss << expected_types[expected_types.size() - 1];
+    _expected_types = oss.str();
+    _what = "expected " + _expected_types;
+  }
+
+  const char* what() const noexcept override { return _what.c_str(); }
+
+  std::string what_detailed(const std::string& field_name) {
+    return "expected \"" + field_name + "\" to be " + _expected_types;
+  }
+
+ private:
+  std::string _expected_types;
+  std::string _what;
+};
+
 template <typename T>
-inline T ToNativeChecked(v8::Local<v8::Value> val) {
-  return Nan::To<T>(std::move(val)).ToChecked();
+inline T ToNative(v8::Local<v8::Value> val);
+
+template <>
+inline int8_t ToNative<int8_t>(v8::Local<v8::Value> val) {
+  int32_t native;
+  if (!Nan::To<int32_t>(std::move(val)).To(&native) ||
+      native > std::numeric_limits<int8_t>::max() ||
+      native < std::numeric_limits<int8_t>::min()) {
+    throw TypeError({"int8"});
+  }
+  return static_cast<int8_t>(native);
 }
 
 template <>
-inline int8_t ToNativeChecked<int8_t>(v8::Local<v8::Value> val) {
-  return Nan::To<int32_t>(std::move(val)).ToChecked();
+inline uint8_t ToNative<uint8_t>(v8::Local<v8::Value> val) {
+  uint32_t native;
+  if (!Nan::To<uint32_t>(std::move(val)).To(&native) ||
+      native > std::numeric_limits<uint8_t>::max() ||
+      native < std::numeric_limits<uint8_t>::min()) {
+    throw TypeError({"uint8"});
+  }
+  return static_cast<uint8_t>(native);
 }
 
 template <>
-inline uint8_t ToNativeChecked<uint8_t>(v8::Local<v8::Value> val) {
-  return Nan::To<int32_t>(std::move(val)).ToChecked();
+inline int16_t ToNative<int16_t>(v8::Local<v8::Value> val) {
+  int32_t native;
+  if (!Nan::To<int32_t>(std::move(val)).To(&native) ||
+      native > std::numeric_limits<int16_t>::max() ||
+      native < std::numeric_limits<int16_t>::min()) {
+    throw TypeError({"int16"});
+  }
+  return static_cast<int16_t>(native);
 }
 
 template <>
-inline int16_t ToNativeChecked<int16_t>(v8::Local<v8::Value> val) {
-  return Nan::To<int32_t>(std::move(val)).ToChecked();
+inline uint16_t ToNative<uint16_t>(v8::Local<v8::Value> val) {
+  uint32_t native;
+  if (!Nan::To<uint32_t>(std::move(val)).To(&native) ||
+      native > std::numeric_limits<uint16_t>::max() ||
+      native < std::numeric_limits<uint16_t>::min()) {
+    throw TypeError({"uint16"});
+  }
+  return static_cast<uint16_t>(native);
 }
 
 template <>
-inline uint16_t ToNativeChecked<uint16_t>(v8::Local<v8::Value> val) {
-  return Nan::To<int32_t>(std::move(val)).ToChecked();
+inline int32_t ToNative<int32_t>(v8::Local<v8::Value> val) {
+  int32_t native;
+  if (!Nan::To<int32_t>(std::move(val)).To(&native)) {
+    throw TypeError({"int32"});
+  }
+  return native;
 }
 
 template <>
-inline int64_t ToNativeChecked<int64_t>(v8::Local<v8::Value> val) {
-  return val->ToBigInt(Nan::GetCurrentContext()).ToLocalChecked()->Int64Value();
+inline uint32_t ToNative<uint32_t>(v8::Local<v8::Value> val) {
+  uint32_t native;
+  if (!Nan::To<uint32_t>(std::move(val)).To(&native)) {
+    throw TypeError({"uint32"});
+  }
+  return native;
 }
 
 template <>
-inline uint64_t ToNativeChecked<uint64_t>(v8::Local<v8::Value> val) {
-  return val->ToBigInt(Nan::GetCurrentContext())
-      .ToLocalChecked()
-      ->Uint64Value();
+inline int64_t ToNative<int64_t>(v8::Local<v8::Value> val) {
+  v8::Local<v8::BigInt> bigint;
+  if (!val->ToBigInt(Nan::GetCurrentContext()).ToLocal(&bigint)) {
+    throw TypeError({"int64"});
+  }
+  return bigint->Int64Value();
+}
+
+template <>
+inline uint64_t ToNative<uint64_t>(v8::Local<v8::Value> val) {
+  v8::Local<v8::BigInt> bigint;
+  if (!val->ToBigInt(Nan::GetCurrentContext()).ToLocal(&bigint)) {
+    throw TypeError({"unt64"});
+  }
+  return bigint->Uint64Value();
+}
+
+template <>
+inline float ToNative<float>(v8::Local<v8::Value> val) {
+  double native;
+  if (!Nan::To<double>(std::move(val)).To(&native) ||
+      native > std::numeric_limits<float>::max() ||
+      native < std::numeric_limits<float>::min()) {
+    throw TypeError({"float"});
+  }
+  return static_cast<float>(native);
 }
 
 template <>
-inline float ToNativeChecked<float>(v8::Local<v8::Value> val) {
-  return Nan::To<double>(std::move(val)).ToChecked();
+inline double ToNative<double>(v8::Local<v8::Value> val) {
+  double native;
+  if (!Nan::To<double>(std::move(val)).To(&native)) {
+    throw TypeError({"double"});
+  }
+  return native;
+}
+
+template <>
+inline bool ToNative<bool>(v8::Local<v8::Value> val) {
+  bool native;
+  if (!Nan::To<bool>(std::move(val)).To(&native)) {
+    throw TypeError({"bool"});
+  }
+  return native;
 }
 
 template <>
-inline rosidl_runtime_c__String ToNativeChecked<rosidl_runtime_c__String>(
+inline rosidl_runtime_c__String ToNative<rosidl_runtime_c__String>(
     v8::Local<v8::Value> val) {
+  if (!val->IsString()) {
+    throw TypeError({"string"});
+  };
   Nan::Utf8String utf8(val);
   if (*utf8 == nullptr) {
     throw std::runtime_error("failed to convert value to string");
@@ -65,7 +167,7 @@ inline rosidl_runtime_c__String ToNativeChecked<rosidl_runtime_c__String>(
 }
 
 template <>
-inline rosidl_runtime_c__U16String ToNativeChecked<rosidl_runtime_c__U16String>(
+inline rosidl_runtime_c__U16String ToNative<rosidl_runtime_c__U16String>(
     v8::Local<v8::Value> val) {
   // TODO:
   throw std::runtime_error("not implemented");

From 7966b96fcdefc7cdfbd61b700f57dfd594c963f4 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Thu, 10 Dec 2020 14:59:01 +0800
Subject: [PATCH 22/64] u16string conversion

---
 src/type_conversion.hpp | 27 +++++++++++++++++++++++++--
 1 file changed, 25 insertions(+), 2 deletions(-)

diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index c111b348..5ce464a1 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -7,8 +7,10 @@
 #include <rosidl_runtime_c/u16string.h>
 #include <rosidl_runtime_c/u16string_functions.h>
 
+#include <codecvt>
 #include <exception>
 #include <limits>
+#include <locale>
 #include <sstream>
 #include <string>
 #include <vector>
@@ -38,6 +40,16 @@ class TypeError : public std::exception {
   std::string _what;
 };
 
+std::u16string string_to_u16string(const std::string& input) {
+  std::wstring_convert<std::codecvt_utf8_utf16<char16_t>, char16_t> converter;
+  return converter.from_bytes(input);
+}
+
+std::string u16string_to_string(const std::u16string& input) {
+  std::wstring_convert<std::codecvt_utf8_utf16<char16_t>, char16_t> converter;
+  return converter.to_bytes(input);
+}
+
 template <typename T>
 inline T ToNative(v8::Local<v8::Value> val);
 
@@ -169,8 +181,19 @@ inline rosidl_runtime_c__String ToNative<rosidl_runtime_c__String>(
 template <>
 inline rosidl_runtime_c__U16String ToNative<rosidl_runtime_c__U16String>(
     v8::Local<v8::Value> val) {
-  // TODO:
-  throw std::runtime_error("not implemented");
+  if (!val->IsString()) {
+    throw TypeError({"string"});
+  };
+  Nan::Utf8String utf8(val);
+  if (*utf8 == nullptr) {
+    throw std::runtime_error("failed to convert value to string");
+  }
+  auto u16s = string_to_u16string(*utf8);
+  rosidl_runtime_c__U16String ros_string;
+  rosidl_runtime_c__U16String__init(&ros_string);
+  rosidl_runtime_c__U16String__assign(
+      &ros_string, reinterpret_cast<const uint16_t*>(u16s.c_str()));
+  return ros_string;
 }
 
 template <typename T>

From de17d58e126a24f09b6b8fdd8f4d3d82fa473a02 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Thu, 10 Dec 2020 16:28:10 +0800
Subject: [PATCH 23/64] Revert "more strict type checking"

This reverts commit 5a29f193c49827d3768490bc98607fe8e4842d27.
---
 rosidl_gen/templates/cppDefinitions.dot |  57 +-----------
 src/type_conversion.hpp                 | 113 +++++-------------------
 2 files changed, 23 insertions(+), 147 deletions(-)

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index 5b84bfdc..d94683d8 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -10,8 +10,6 @@
 #include <{{=it.getRosHeaderField(message.info)}}>
 {{~}}
 
-#include <type_traits>
-
 namespace rclnodejs {
 
 {{~ it.messages : message}}
@@ -46,7 +44,6 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
 {{
     const jsType = it.getJsType(field.type);
 }}
-{{? !field.type.isArray}}
 {{? jsType === 'number'}}
     if (!js_value->IsNumber()) {
       Nan::ThrowError(Nan::New("expected {{=field.name}} to be number").ToLocalChecked());
@@ -78,14 +75,9 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
       return;
     }
 {{?}}
+{{? !field.type.isArray}}
 {{? field.type.isPrimitiveType}}
-    try {
-      msg->{{=field.name}} = ToNative<decltype(msg->{{=field.name}})>(js_value);
-    } catch (TypeError e) {
-      Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
-      info.GetReturnValue().Set(Nan::Undefined());
-      return;
-    }
+    msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value);
 {{??}}
     {
       auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
@@ -100,50 +92,7 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
     }
 {{?}}
 {{??}}
-{{? field.type.isPrimitiveTypeasd}}
-    if (!js_value->IsArray()) {
-      Nan::ThrowError(Nan::New("expected {{=field.name}} to be an array").ToLocalChecked());
-      info.GetReturnValue().Set(Nan::Undefined());
-      return;
-    }
-    auto js_array = js_value.As<v8::Array>();
-{{? field.type.isFixedSizeArray}}
-    if (js_array->Length() != {{=field.type.arraySize}}) {
-      Nan::ThrowError(Nan::New("expected {{=field.name}} to have length {{=field.type.arraySize}}").ToLocalChecked());
-      info.GetReturnValue().Set(Nan::Undefined());
-      return;
-    }
-
-    for (uint32_t i = 0; i < {{=field.type.arraySize}}; ++i) {
-{{? field.type.type === 'string'}}
-      try {
-        msg->{{=field.name}}[i] = ToNative<rosidl_runtime_c__String>(Nan::Get(js_array, i).ToLocalChecked());
-      } catch (TypeError e) {
-        Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
-        info.GetReturnValue().Set(Nan::Undefined());
-        return;
-      }
-    }
-{{??}}
-      msg->{{=field.name}}[i] = ToNative<std::decay_t<decltype(msg->{{=field.name}})>>(Nan::Get(js_array, i).ToLocalChecked());
-{{?}}
-    }
-{{??}}
-    // TODO: handle sequences
-{{?}}
-{{??}}
-    {
-      auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}__Sequence").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-      auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-      auto {{=field.name}}_jsObj = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
-      v8::Local<v8::Value> argv[] = {
-        {{=field.name}}_jsObj,
-        info[1],
-        Nan::New(static_cast<uint32_t>(reinterpret_cast<char*>(&msg->{{=field.name}}) - buffer))
-      };
-      Nan::Call(typesupport_func, Nan::New<v8::Object>(), 3, argv).ToLocalChecked();
-    }
-{{?}}
+    // TODO: handle array types
 {{?}}
   }
 {{?}}
diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index 5ce464a1..64548a90 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -51,123 +51,50 @@ std::string u16string_to_string(const std::u16string& input) {
 }
 
 template <typename T>
-inline T ToNative(v8::Local<v8::Value> val);
-
-template <>
-inline int8_t ToNative<int8_t>(v8::Local<v8::Value> val) {
-  int32_t native;
-  if (!Nan::To<int32_t>(std::move(val)).To(&native) ||
-      native > std::numeric_limits<int8_t>::max() ||
-      native < std::numeric_limits<int8_t>::min()) {
-    throw TypeError({"int8"});
-  }
-  return static_cast<int8_t>(native);
+inline T ToNativeChecked(v8::Local<v8::Value> val) {
+  return Nan::To<T>(std::move(val)).ToChecked();
 }
 
 template <>
-inline uint8_t ToNative<uint8_t>(v8::Local<v8::Value> val) {
-  uint32_t native;
-  if (!Nan::To<uint32_t>(std::move(val)).To(&native) ||
-      native > std::numeric_limits<uint8_t>::max() ||
-      native < std::numeric_limits<uint8_t>::min()) {
-    throw TypeError({"uint8"});
-  }
-  return static_cast<uint8_t>(native);
+inline int8_t ToNativeChecked<int8_t>(v8::Local<v8::Value> val) {
+  return Nan::To<int32_t>(std::move(val)).ToChecked();
 }
 
 template <>
-inline int16_t ToNative<int16_t>(v8::Local<v8::Value> val) {
-  int32_t native;
-  if (!Nan::To<int32_t>(std::move(val)).To(&native) ||
-      native > std::numeric_limits<int16_t>::max() ||
-      native < std::numeric_limits<int16_t>::min()) {
-    throw TypeError({"int16"});
-  }
-  return static_cast<int16_t>(native);
+inline uint8_t ToNativeChecked<uint8_t>(v8::Local<v8::Value> val) {
+  return Nan::To<uint32_t>(std::move(val)).ToChecked();
 }
 
 template <>
-inline uint16_t ToNative<uint16_t>(v8::Local<v8::Value> val) {
-  uint32_t native;
-  if (!Nan::To<uint32_t>(std::move(val)).To(&native) ||
-      native > std::numeric_limits<uint16_t>::max() ||
-      native < std::numeric_limits<uint16_t>::min()) {
-    throw TypeError({"uint16"});
-  }
-  return static_cast<uint16_t>(native);
+inline int16_t ToNativeChecked<int16_t>(v8::Local<v8::Value> val) {
+  return Nan::To<int32_t>(std::move(val)).ToChecked();
 }
 
 template <>
-inline int32_t ToNative<int32_t>(v8::Local<v8::Value> val) {
-  int32_t native;
-  if (!Nan::To<int32_t>(std::move(val)).To(&native)) {
-    throw TypeError({"int32"});
-  }
-  return native;
+inline uint16_t ToNativeChecked<uint16_t>(v8::Local<v8::Value> val) {
+  return Nan::To<uint32_t>(std::move(val)).ToChecked();
 }
 
 template <>
-inline uint32_t ToNative<uint32_t>(v8::Local<v8::Value> val) {
-  uint32_t native;
-  if (!Nan::To<uint32_t>(std::move(val)).To(&native)) {
-    throw TypeError({"uint32"});
-  }
-  return native;
+inline int64_t ToNativeChecked<int64_t>(v8::Local<v8::Value> val) {
+  return val->ToBigInt(Nan::GetCurrentContext()).ToLocalChecked()->Int64Value();
 }
 
 template <>
-inline int64_t ToNative<int64_t>(v8::Local<v8::Value> val) {
-  v8::Local<v8::BigInt> bigint;
-  if (!val->ToBigInt(Nan::GetCurrentContext()).ToLocal(&bigint)) {
-    throw TypeError({"int64"});
-  }
-  return bigint->Int64Value();
+inline uint64_t ToNativeChecked<uint64_t>(v8::Local<v8::Value> val) {
+  return val->ToBigInt(Nan::GetCurrentContext())
+      .ToLocalChecked()
+      ->Uint64Value();
 }
 
 template <>
-inline uint64_t ToNative<uint64_t>(v8::Local<v8::Value> val) {
-  v8::Local<v8::BigInt> bigint;
-  if (!val->ToBigInt(Nan::GetCurrentContext()).ToLocal(&bigint)) {
-    throw TypeError({"unt64"});
-  }
-  return bigint->Uint64Value();
+inline float ToNativeChecked<float>(v8::Local<v8::Value> val) {
+  return Nan::To<double>(std::move(val)).ToChecked();
 }
 
 template <>
-inline float ToNative<float>(v8::Local<v8::Value> val) {
-  double native;
-  if (!Nan::To<double>(std::move(val)).To(&native) ||
-      native > std::numeric_limits<float>::max() ||
-      native < std::numeric_limits<float>::min()) {
-    throw TypeError({"float"});
-  }
-  return static_cast<float>(native);
-}
-
-template <>
-inline double ToNative<double>(v8::Local<v8::Value> val) {
-  double native;
-  if (!Nan::To<double>(std::move(val)).To(&native)) {
-    throw TypeError({"double"});
-  }
-  return native;
-}
-
-template <>
-inline bool ToNative<bool>(v8::Local<v8::Value> val) {
-  bool native;
-  if (!Nan::To<bool>(std::move(val)).To(&native)) {
-    throw TypeError({"bool"});
-  }
-  return native;
-}
-
-template <>
-inline rosidl_runtime_c__String ToNative<rosidl_runtime_c__String>(
+inline rosidl_runtime_c__String ToNativeChecked<rosidl_runtime_c__String>(
     v8::Local<v8::Value> val) {
-  if (!val->IsString()) {
-    throw TypeError({"string"});
-  };
   Nan::Utf8String utf8(val);
   if (*utf8 == nullptr) {
     throw std::runtime_error("failed to convert value to string");
@@ -179,7 +106,7 @@ inline rosidl_runtime_c__String ToNative<rosidl_runtime_c__String>(
 }
 
 template <>
-inline rosidl_runtime_c__U16String ToNative<rosidl_runtime_c__U16String>(
+inline rosidl_runtime_c__U16String ToNativeChecked<rosidl_runtime_c__U16String>(
     v8::Local<v8::Value> val) {
   if (!val->IsString()) {
     throw TypeError({"string"});

From 297fccc0ff0af1a1fb7d499b973974303f52d680 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Thu, 10 Dec 2020 16:45:37 +0800
Subject: [PATCH 24/64] write array

---
 src/type_conversion.hpp | 228 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 228 insertions(+)

diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index 64548a90..9ff77fef 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -40,6 +40,24 @@ class TypeError : public std::exception {
   std::string _what;
 };
 
+class OutOfRangeError : public std::exception {
+ public:
+  explicit OutOfRangeError(size_t len) : _len(len) {
+    _what = "expected array to have length " + len;
+  }
+
+  const char* what() const noexcept override { return _what.c_str(); }
+
+  std::string what_detailed(const std::string& field_name) {
+    return "expected \"" + field_name + "\" to have length " +
+           std::to_string(_len);
+  }
+
+ private:
+  std::string _what;
+  size_t _len;
+};
+
 std::u16string string_to_u16string(const std::string& input) {
   std::wstring_convert<std::codecvt_utf8_utf16<char16_t>, char16_t> converter;
   return converter.from_bytes(input);
@@ -123,6 +141,216 @@ inline rosidl_runtime_c__U16String ToNativeChecked<rosidl_runtime_c__U16String>(
   return ros_string;
 }
 
+template <typename TypedArrayT>
+struct TypedArrayName {};
+
+template <>
+struct TypedArrayName<v8::Int8Array> {
+  static constexpr const char* Name = "Int8Array";
+};
+
+template <>
+struct TypedArrayName<v8::Uint8Array> {
+  static constexpr const char* Name = "Uint8Array";
+};
+
+template <>
+struct TypedArrayName<v8::Int16Array> {
+  static constexpr const char* Name = "Int16Array";
+};
+
+template <>
+struct TypedArrayName<v8::Uint16Array> {
+  static constexpr const char* Name = "Uint16Array";
+};
+
+template <>
+struct TypedArrayName<v8::Int32Array> {
+  static constexpr const char* Name = "Int32Array";
+};
+
+template <>
+struct TypedArrayName<v8::Uint32Array> {
+  static constexpr const char* Name = "Uint32Array";
+};
+
+template <>
+struct TypedArrayName<v8::BigInt64Array> {
+  static constexpr const char* Name = "BigInt64Array";
+};
+
+template <>
+struct TypedArrayName<v8::BigUint64Array> {
+  static constexpr const char* Name = "BigUint64Array";
+};
+
+template <typename TypedArrayT>
+inline bool IsTypedArray(v8::Local<v8::Value> val);
+
+template <>
+inline bool IsTypedArray<v8::Int8Array>(v8::Local<v8::Value> val) {
+  return val->IsInt8Array();
+}
+
+template <>
+inline bool IsTypedArray<v8::Uint8Array>(v8::Local<v8::Value> val) {
+  return val->IsUint8Array();
+}
+
+template <>
+inline bool IsTypedArray<v8::Int16Array>(v8::Local<v8::Value> val) {
+  return val->IsInt16Array();
+}
+
+template <>
+inline bool IsTypedArray<v8::Uint16Array>(v8::Local<v8::Value> val) {
+  return val->IsUint16Array();
+}
+
+template <>
+inline bool IsTypedArray<v8::Int32Array>(v8::Local<v8::Value> val) {
+  return val->IsInt32Array();
+}
+
+template <>
+inline bool IsTypedArray<v8::Uint32Array>(v8::Local<v8::Value> val) {
+  return val->IsUint32Array();
+}
+
+template <>
+inline bool IsTypedArray<v8::BigInt64Array>(v8::Local<v8::Value> val) {
+  return val->IsBigInt64Array();
+}
+
+template <>
+inline bool IsTypedArray<v8::BigUint64Array>(v8::Local<v8::Value> val) {
+  return val->IsBigUint64Array();
+}
+
+template <typename TypedArrayT, typename NativeT>
+inline void WriteNativeArrayImpl(v8::Local<v8::Value> val, NativeT* arr,
+                                 size_t len) {
+  if (!IsTypedArray<TypedArrayT>(val)) {
+    if (!val->IsArray()) {
+      throw TypeError({"array", TypedArrayName<TypedArrayT>::Name});
+    }
+    auto array = val.As<v8::Array>();
+    if (array->Length() < len) {
+      throw OutOfRangeError(len);
+    }
+    for (uint32_t i = 0; i < len; ++i) {
+      auto native =
+          ToNativeChecked<NativeT>(Nan::Get(array, i).ToLocalChecked());
+      arr[i] = native;
+    }
+  } else {
+    auto typed_array = val.As<TypedArrayT>();
+    if (typed_array->Length() < len) {
+      throw OutOfRangeError(len);
+    }
+    typed_array->CopyContents(arr, len * sizeof(NativeT));
+  }
+}
+
+template <typename T>
+inline void WriteNativeArray(v8::Local<v8::Value> val, T* arr, size_t len);
+
+template <>
+inline void WriteNativeArray<int8_t>(v8::Local<v8::Value> val, int8_t* arr,
+                                     size_t len) {
+  WriteNativeArrayImpl<v8::Int8Array, int8_t>(val, arr, len);
+}
+
+template <>
+inline void WriteNativeArray<uint8_t>(v8::Local<v8::Value> val, uint8_t* arr,
+                                      size_t len) {
+  WriteNativeArrayImpl<v8::Uint8Array, uint8_t>(val, arr, len);
+}
+
+template <>
+inline void WriteNativeArray<int16_t>(v8::Local<v8::Value> val, int16_t* arr,
+                                      size_t len) {
+  WriteNativeArrayImpl<v8::Int16Array, int16_t>(val, arr, len);
+}
+
+template <>
+inline void WriteNativeArray<uint16_t>(v8::Local<v8::Value> val, uint16_t* arr,
+                                       size_t len) {
+  WriteNativeArrayImpl<v8::Uint16Array, uint16_t>(val, arr, len);
+}
+
+template <>
+inline void WriteNativeArray<int32_t>(v8::Local<v8::Value> val, int32_t* arr,
+                                      size_t len) {
+  WriteNativeArrayImpl<v8::Int32Array, int32_t>(val, arr, len);
+}
+
+template <>
+inline void WriteNativeArray<uint32_t>(v8::Local<v8::Value> val, uint32_t* arr,
+                                       size_t len) {
+  WriteNativeArrayImpl<v8::Uint32Array, uint32_t>(val, arr, len);
+}
+
+template <>
+inline void WriteNativeArray<int64_t>(v8::Local<v8::Value> val, int64_t* arr,
+                                      size_t len) {
+  WriteNativeArrayImpl<v8::BigInt64Array, int64_t>(val, arr, len);
+}
+
+template <>
+inline void WriteNativeArray<uint64_t>(v8::Local<v8::Value> val, uint64_t* arr,
+                                       size_t len) {
+  WriteNativeArrayImpl<v8::BigUint64Array, uint64_t>(val, arr, len);
+}
+
+template <>
+inline void WriteNativeArray<bool>(v8::Local<v8::Value> val, bool* arr,
+                                   size_t len) {
+  if (!val->IsArray()) {
+    throw TypeError({"array"});
+  }
+  auto array = val.As<v8::Array>();
+  if (array->Length() < len) {
+    throw OutOfRangeError(len);
+  }
+  for (size_t i = 0; i < len; ++i) {
+    auto item = Nan::Get(array, i).ToLocalChecked();
+    arr[i] = Nan::To<bool>(std::move(item)).ToChecked();
+  }
+}
+
+template <>
+inline void WriteNativeArray<float>(v8::Local<v8::Value> val, float* arr,
+                                    size_t len) {
+  if (!val->IsArray()) {
+    throw TypeError({"array"});
+  }
+  auto array = val.As<v8::Array>();
+  if (array->Length() < len) {
+    throw OutOfRangeError(len);
+  }
+  for (size_t i = 0; i < len; ++i) {
+    auto item = Nan::Get(array, i).ToLocalChecked();
+    arr[i] = static_cast<float>(Nan::To<double>(std::move(item)).ToChecked());
+  }
+}
+
+template <>
+inline void WriteNativeArray<double>(v8::Local<v8::Value> val, double* arr,
+                                     size_t len) {
+  if (!val->IsArray()) {
+    throw TypeError({"array"});
+  }
+  auto array = val.As<v8::Array>();
+  if (array->Length() < len) {
+    throw OutOfRangeError(len);
+  }
+  for (size_t i = 0; i < len; ++i) {
+    auto item = Nan::Get(array, i).ToLocalChecked();
+    arr[i] = Nan::To<double>(std::move(item)).ToChecked();
+  }
+}
+
 template <typename T>
 inline v8::Local<v8::Value> ToJsChecked(T val) {
   return Nan::New(val);

From ed57bedd4cb6abee618b399b9b4eb7f23e18be29 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Thu, 10 Dec 2020 17:23:16 +0800
Subject: [PATCH 25/64] primitive fixed size arrays

---
 rosidl_gen/templates/cppDefinitions.dot | 44 +++++++++++++++----------
 1 file changed, 26 insertions(+), 18 deletions(-)

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index d94683d8..609a5348 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -37,48 +37,48 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
   auto* msg = reinterpret_cast<{{=message.structType}}*>(buffer + offset);
   auto typesupport = Nan::To<v8::Object>(info[3]).ToLocalChecked();
 
-{{~ message.spec.fields : field}}
-{{? !it.isInternalField(field)}}
+  {{~ message.spec.fields : field}}
+    {{? !it.isInternalField(field)}}
   {
     auto js_value = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
-{{
+      {{
     const jsType = it.getJsType(field.type);
-}}
-{{? jsType === 'number'}}
+      }}
+      {{? !field.type.isArray}}
+        {{? jsType === 'number'}}
     if (!js_value->IsNumber()) {
       Nan::ThrowError(Nan::New("expected {{=field.name}} to be number").ToLocalChecked());
       info.GetReturnValue().Set(Nan::Undefined());
       return;
     }
-{{?? jsType === 'string'}}
+        {{?? jsType === 'string'}}
     if (!js_value->IsString()) {
       Nan::ThrowError(Nan::New("expected {{=field.name}} to be string").ToLocalChecked());
       info.GetReturnValue().Set(Nan::Undefined());
       return;
     }
-{{?? jsType === 'boolean'}}
+        {{?? jsType === 'boolean'}}
     if (!js_value->IsBoolean()) {
       Nan::ThrowError(Nan::New("expected {{=field.name}} to be boolean").ToLocalChecked());
       info.GetReturnValue().Set(Nan::Undefined());
       return;
     }
-{{?? jsType === 'bigint'}}
+        {{?? jsType === 'bigint'}}
     if (!js_value->IsBigInt()) {
       Nan::ThrowError(Nan::New("expected {{=field.name}} to be bigint").ToLocalChecked());
       info.GetReturnValue().Set(Nan::Undefined());
       return;
     }
-{{??}}
+        {{??}}
     if (!js_value->IsObject()) {
       Nan::ThrowError(Nan::New("expected {{=field.name}} to be {{=field.type.type}} object").ToLocalChecked());
       info.GetReturnValue().Set(Nan::Undefined());
       return;
     }
-{{?}}
-{{? !field.type.isArray}}
-{{? field.type.isPrimitiveType}}
+        {{?}}
+        {{? field.type.isPrimitiveType}}
     msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value);
-{{??}}
+        {{??}}
     {
       auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
       auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
@@ -90,12 +90,20 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
       };
       Nan::Call(typesupport_func, Nan::New<v8::Object>(), 3, argv).ToLocalChecked();
     }
-{{?}}
-{{??}}
-    // TODO: handle array types
-{{?}}
+        {{?}}
+      {{??}}
+        {{? field.type.isFixedSizeArray}}
+          {{? field.type.isPrimitiveType}}
+    WriteNativeArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}});
+          {{??}}
+    // TODO: handle non-primitive arrays types
+          {{?}}
+        {{??}}
+    // TODO: handle sequences
+        {{?}}
+    {{?}}
   }
-{{?}}
+  {{?}}
 {{~}}
 
   info.GetReturnValue().Set(Nan::Undefined());

From 6cd3df4f380a3670850298ead449cf2e4e9d88e1 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Thu, 10 Dec 2020 17:30:55 +0800
Subject: [PATCH 26/64] skip type assertion, nan conversion it is generally
 safe, it will just return 0 or false if the type cannot be converted

---
 rosidl_gen/templates/cppDefinitions.dot | 31 -------------------------
 1 file changed, 31 deletions(-)

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index 609a5348..3011bcd8 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -45,37 +45,6 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
     const jsType = it.getJsType(field.type);
       }}
       {{? !field.type.isArray}}
-        {{? jsType === 'number'}}
-    if (!js_value->IsNumber()) {
-      Nan::ThrowError(Nan::New("expected {{=field.name}} to be number").ToLocalChecked());
-      info.GetReturnValue().Set(Nan::Undefined());
-      return;
-    }
-        {{?? jsType === 'string'}}
-    if (!js_value->IsString()) {
-      Nan::ThrowError(Nan::New("expected {{=field.name}} to be string").ToLocalChecked());
-      info.GetReturnValue().Set(Nan::Undefined());
-      return;
-    }
-        {{?? jsType === 'boolean'}}
-    if (!js_value->IsBoolean()) {
-      Nan::ThrowError(Nan::New("expected {{=field.name}} to be boolean").ToLocalChecked());
-      info.GetReturnValue().Set(Nan::Undefined());
-      return;
-    }
-        {{?? jsType === 'bigint'}}
-    if (!js_value->IsBigInt()) {
-      Nan::ThrowError(Nan::New("expected {{=field.name}} to be bigint").ToLocalChecked());
-      info.GetReturnValue().Set(Nan::Undefined());
-      return;
-    }
-        {{??}}
-    if (!js_value->IsObject()) {
-      Nan::ThrowError(Nan::New("expected {{=field.name}} to be {{=field.type.type}} object").ToLocalChecked());
-      info.GetReturnValue().Set(Nan::Undefined());
-      return;
-    }
-        {{?}}
         {{? field.type.isPrimitiveType}}
     msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value);
         {{??}}

From 37238de7aa179c69a1b232e0a8c1ca7dcb7f5758 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Thu, 10 Dec 2020 18:09:03 +0800
Subject: [PATCH 27/64] non-primitive fixed size arrays

---
 rosidl_gen/templates/cppDefinitions.dot | 23 ++++++++++++-----------
 src/type_conversion.hpp                 | 25 +++++++++++++++++++++++++
 2 files changed, 37 insertions(+), 11 deletions(-)

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index 3011bcd8..5f783bee 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -48,17 +48,15 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
         {{? field.type.isPrimitiveType}}
     msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value);
         {{??}}
-    {
-      auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-      auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-      auto {{=field.name}}_jsObj = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
-      v8::Local<v8::Value> argv[] = {
-        {{=field.name}}_jsObj,
-        info[1],
-        Nan::New(static_cast<uint32_t>(reinterpret_cast<char*>(&msg->{{=field.name}}) - buffer))
-      };
-      Nan::Call(typesupport_func, Nan::New<v8::Object>(), 3, argv).ToLocalChecked();
-    }
+    auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    auto {{=field.name}}_js_obj = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
+    v8::Local<v8::Value> argv[] = {
+      {{=field.name}}_js_obj,
+      info[1],
+      Nan::New(static_cast<uint32_t>(reinterpret_cast<char*>(&msg->{{=field.name}}) - reinterpret_cast<char*>(msg)))
+    };
+    Nan::Call(typesupport_func, Nan::New<v8::Object>(), 3, argv).ToLocalChecked();
         {{?}}
       {{??}}
         {{? field.type.isFixedSizeArray}}
@@ -66,6 +64,9 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
     WriteNativeArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}});
           {{??}}
     // TODO: handle non-primitive arrays types
+    auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    WriteNativeObjectArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}}, info[1], offset, typesupport_func);
           {{?}}
         {{??}}
     // TODO: handle sequences
diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index 9ff77fef..7798bd23 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -351,6 +351,31 @@ inline void WriteNativeArray<double>(v8::Local<v8::Value> val, double* arr,
   }
 }
 
+template <typename T>
+inline void WriteNativeObjectArray(v8::Local<v8::Value> val, T* arr, size_t len,
+                                   v8::Local<v8::Value> node_buffer,
+                                   size_t offset,
+                                   v8::Local<v8::Function> typesupport_func) {
+  if (!val->IsArray()) {
+    throw TypeError({"array"});
+  }
+  auto array = val.As<v8::Array>();
+  if (array->Length() < len) {
+    throw OutOfRangeError(len);
+  }
+  auto msg_base = node::Buffer::Data(node_buffer) + offset;
+  v8::Local<v8::Value> argv[] = {Nan::Undefined(), node_buffer,
+                                 Nan::Undefined()};
+  for (size_t i = 0; i < len; ++i) {
+    auto item = Nan::Get(array, i).ToLocalChecked();
+    argv[0] = item;
+    argv[2] = Nan::New(
+        static_cast<uint32_t>(reinterpret_cast<char*>(&arr[i]) - msg_base));
+    Nan::Call(typesupport_func, Nan::New<v8::Object>(), 3, argv)
+        .ToLocalChecked();
+  }
+}
+
 template <typename T>
 inline v8::Local<v8::Value> ToJsChecked(T val) {
   return Nan::New(val);

From 7352bd9087e3e868ccf395f16e55f0afd1811669 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 11 Dec 2020 12:07:31 +0800
Subject: [PATCH 28/64] api compatible rosidl message

---
 lib/node.js                             |  20 +-
 lib/publisher.js                        |  26 +-
 lib/subscription.js                     |   7 +-
 rosidl_gen/idl_generator.js             |  28 +-
 rosidl_gen/templates/cppDefinitions.dot |   4 +-
 rosidl_gen/templates/message.dot        |  27 --
 rosidl_gen/templates/messageRosidl.dot  | 343 ++++++++++++++++++++++++
 7 files changed, 383 insertions(+), 72 deletions(-)
 create mode 100644 rosidl_gen/templates/messageRosidl.dot

diff --git a/lib/node.js b/lib/node.js
index 38331017..582fa5b3 100644
--- a/lib/node.js
+++ b/lib/node.js
@@ -37,7 +37,6 @@ const Service = require('./service.js');
 const Subscription = require('./subscription.js');
 const TimeSource = require('./time_source.js');
 const Timer = require('./timer.js');
-const generateOptions = require('../generated/generator-options');
 
 // Parameter event publisher constants
 const PARAMETER_EVENT_MSG_TYPE = 'rcl_interfaces/msg/ParameterEvent';
@@ -1521,21 +1520,16 @@ class Node {
    * @returns {undefined}
    */
   _runWithMessageType(Type, callback) {
-    if (generatorOptions.idlProvider === 'rosidl') {
-      let message = Type.createRosMessage();
-      callback(message, () => Type.toJsObject(message));
-    } else {
-      let message = new Type();
+    let message = new Type();
 
-      callback(message.toRawROS(), () => {
-        let result = new Type();
-        result.deserialize(message.refObject);
+    callback(message.toRawROS(), () => {
+      let result = new Type();
+      result.deserialize(message.refObject);
 
-        return result;
-      });
+      return result;
+    });
 
-      Type.destoryRawROS(message);
-    }
+    Type.destoryRawROS(message);
   }
 
   _addActionClient(actionClient) {
diff --git a/lib/publisher.js b/lib/publisher.js
index c34ef03b..7342c3c1 100644
--- a/lib/publisher.js
+++ b/lib/publisher.js
@@ -17,7 +17,6 @@
 const rclnodejs = require('bindings')('rclnodejs');
 const debug = require('debug')('rclnodejs:publisher');
 const Entity = require('./entity.js');
-const generatorOptions = require('../generated/generator-options');
 
 /**
  * @class - Class representing a Publisher in ROS
@@ -47,22 +46,17 @@ class Publisher extends Entity {
     if (message instanceof Buffer) {
       rclnodejs.publishRawMessage(this._handle, message);
     } else {
-      if (generatorOptions.idlProvider === 'rosidl') {
-        let rawMessage = this._typeClass.toRosMessage(message);
-        rclnodejs.publish(this._handle, rawMessage);
-      } else {
-        // Enables call by plain object/number/string argument
-        //  e.g. publisher.publish(3.14);
-        //       publisher.publish('The quick brown fox...');
-        //       publisher.publish({linear: {x: 0, y: 1, z: 2}, ...});
-        let messageToSend =
-          message instanceof this._typeClass
-            ? message
-            : new this._typeClass(message);
+      // Enables call by plain object/number/string argument
+      //  e.g. publisher.publish(3.14);
+      //       publisher.publish('The quick brown fox...');
+      //       publisher.publish({linear: {x: 0, y: 1, z: 2}, ...});
+      let messageToSend =
+        message instanceof this._typeClass
+          ? message
+          : new this._typeClass(message);
 
-        let rawMessage = messageToSend.serialize();
-        rclnodejs.publish(this._handle, rawMessage);
-      }
+      let rawMessage = messageToSend.serialize();
+      rclnodejs.publish(this._handle, rawMessage);
     }
 
     debug(`Message of topic ${this.topic} has been published.`);
diff --git a/lib/subscription.js b/lib/subscription.js
index b78594cd..96a7f261 100644
--- a/lib/subscription.js
+++ b/lib/subscription.js
@@ -17,7 +17,6 @@
 const rclnodejs = require('bindings')('rclnodejs');
 const Entity = require('./entity.js');
 const debug = require('debug')('rclnodejs:subscription');
-const generatorOptions = require('../generated/generator-options');
 
 /**
  * @class - Class representing a Subscription in ROS
@@ -37,11 +36,7 @@ class Subscription extends Entity {
     if (this._isRaw) {
       this._callback(msg);
     } else {
-      if (generatorOptions.idlProvider === 'rosidl') {
-        this._callback(msg);
-      } else {
-        this._callback(msg.toPlainObject(this.typedArrayEnabled));
-      }
+      this._callback(msg.toPlainObject(this.typedArrayEnabled));
     }
   }
 
diff --git a/rosidl_gen/idl_generator.js b/rosidl_gen/idl_generator.js
index b3830e73..07388da1 100644
--- a/rosidl_gen/idl_generator.js
+++ b/rosidl_gen/idl_generator.js
@@ -250,14 +250,26 @@ async function generateMessageJSStructFromSpec(
     spec.msgName +
     '.js';
 
-  const generatedCode = removeEmptyLines(
-    dots.message({
-      messageInfo: messageInfo,
-      spec: spec,
-      json: JSON.stringify(spec, null, '  '),
-      options,
-    })
-  );
+  let generatedCode;
+  if (options.idlProvider === 'rosidl') {
+    generatedCode = removeEmptyLines(
+      dots.messageRosidl({
+        messageInfo: messageInfo,
+        spec: spec,
+        json: JSON.stringify(spec, null, '  '),
+        options,
+      })
+    );
+  } else {
+    generatedCode = removeEmptyLines(
+      dots.message({
+        messageInfo: messageInfo,
+        spec: spec,
+        json: JSON.stringify(spec, null, '  '),
+        options,
+      })
+    );
+  }
   return writeGeneratedCode(dir, fileName, generatedCode);
 }
 
diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index 5f783bee..35986864 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -49,7 +49,7 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
     msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value);
         {{??}}
     auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-    auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("_writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
     auto {{=field.name}}_js_obj = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
     v8::Local<v8::Value> argv[] = {
       {{=field.name}}_js_obj,
@@ -65,7 +65,7 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
           {{??}}
     // TODO: handle non-primitive arrays types
     auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-    auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("_writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
     WriteNativeObjectArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}}, info[1], offset, typesupport_func);
           {{?}}
         {{??}}
diff --git a/rosidl_gen/templates/message.dot b/rosidl_gen/templates/message.dot
index 4f86d91f..a6943adf 100644
--- a/rosidl_gen/templates/message.dot
+++ b/rosidl_gen/templates/message.dot
@@ -225,17 +225,10 @@ const ArrayType = require('ref-array-di')(ref);
 const primitiveTypes = require('../../rosidl_gen/primitive_types.js');
 const deallocator = require('../../rosidl_gen/deallocator.js');
 const translator = require('../../rosidl_gen/message_translator.js');
-{{? it.options.idlProvider === 'rosidl'}}
-const typesupport = require('bindings')('{{=it.messageInfo.pkgName}}__rosidl_node').{{=it.messageInfo.interfaceName}};
-{{?}}
 
-const typesupportDeps = {};
 {{~ it.spec.fields :field}}
 {{? shouldRequire(it.spec.baseType, field.type)}}
 const {{=getWrapperNameByType(field.type)}} = require('../../generated/{{=getPackageNameByType(field.type)}}/{{=getModulePathByType(field.type, it.messageInfo)}}');
-{{? it.options.idlProvider === 'rosidl' && field.type.pkgName}}
-typesupportDeps['{{=field.type.pkgName}}/{{=field.type.type}}'] = {{=getWrapperNameByType(field.type)}};
-{{?}}
 {{?}}
 {{~}}
 
@@ -363,26 +356,6 @@ class {{=objectWrapper}} {
     return {{=refObjectType}};
   }
 
-{{? it.options.idlProvider === 'rosidl'}}
-  static createRosMessage() {
-    return typesupport.createRosMessage();
-  }
-
-  static toJsObject(buffer, offset = 0) {
-    return typesupport.toJsObject(buffer, offset, typesupportDeps);
-  }
-
-  static toRosMessage(obj) {
-    const rosMessage = {{=objectWrapper}}.createRosMessage();
-    {{=objectWrapper}}.writeRosMessage(obj, rosMessage, 0);
-    return rosMessage;
-  }
-
-  static writeRosMessage(obj, buffer, offset) {
-    typesupport.writeRosMessage(obj, buffer, offset, typesupportDeps);
-  }
-{{?}}
-
   toRawROS() {
     this.freeze(true);
     return this._refObject.ref();
diff --git a/rosidl_gen/templates/messageRosidl.dot b/rosidl_gen/templates/messageRosidl.dot
new file mode 100644
index 00000000..c1243f03
--- /dev/null
+++ b/rosidl_gen/templates/messageRosidl.dot
@@ -0,0 +1,343 @@
+// This file is automatically generated by Intel rclnodejs
+//
+// *** DO NOT EDIT directly
+//
+
+'use strict';
+
+{{
+let objectWrapper = it.spec.msgName + 'Wrapper';
+let arrayWrapper = it.spec.msgName + 'ArrayWrapper';
+
+let refObjectType = it.spec.msgName + 'RefStruct';
+let refObjectArrayType = it.spec.msgName + 'RefStructArray';
+let refArrayType = it.spec.msgName + 'RefArray';
+const compactMsgDefJSON = JSON.stringify(JSON.parse(it.json));
+
+if (it.spec.fields.length === 0) {
+  it.spec.isEmpty = true;
+  /* Following rosidl_generator_c style, put a bool member named '_dummy' */
+  it.spec.fields.push({
+    "type": {
+      "isArray": false,
+      "pkgName": null,
+      "type": "bool",
+      "isDynamicArray": false,
+      "stringUpperBound": null,
+      "isUpperBound": false,
+      "isPrimitiveType": true,
+      "isFixedSizeArray": false,
+      "arraySize": null
+    },
+    "name": "_dummy"
+  });
+} /* if */
+
+function getPrimitiveNameByType(type) {
+  if (type.type === 'bool') {
+    return 'Bool';
+  } else if (type.type === 'int8') {
+    return 'Int8';
+  } else if (type.type === 'uint8') {
+    return 'UInt8';
+  } else if (type.type === 'int16') {
+    return 'Int16';
+  } else if (type.type === 'uint16') {
+    return 'UInt16';
+  } else if (type.type === 'int32') {
+    return 'Int32';
+  } else if (type.type === 'uint32') {
+    return 'UInt32';
+  } else if (type.type === 'int64') {
+    return 'Int64';
+  } else if (type.type === 'uint64') {
+    return 'UInt64';
+  } else if (type.type === 'float64') {
+    return 'Float64';
+  } else if (type.type === 'float32') {
+    return 'Float32';
+  } else if (type.type === 'char') {
+    return 'Char';
+  } else if (type.type === 'byte') {
+    return 'Byte';
+  } else if (type.type === 'string' || type.type === 'wstring') {
+    return 'String';
+  } else {
+    return '';
+  }
+}
+
+function getTypedArrayName(type) {
+  const t = type.type.toLowerCase();
+  let typedArrayName;
+
+  switch (t) {
+    case 'byte':
+    case 'octet':
+    case 'uint8':
+      typedArrayName = 'Uint8Array';
+      break;
+    case 'char':
+    case 'int8':
+      typedArrayName = 'Int8Array';
+      break;
+    case 'int16':
+    case 'short':
+      typedArrayName = 'Int16Array';
+      break;
+    case 'uint16':
+    case 'unsigned short':
+      typedArrayName = 'Uint16Array';
+      break;
+    case 'int32':
+    case 'long':
+      typedArrayName = 'Int32Array';
+      break;
+    case 'uint32':
+    case 'unsigned long':
+      typedArrayName = 'Uint32Array';
+      break;
+    case 'float':
+    case 'float32':
+      typedArrayName = 'Float32Array';
+      break;
+    case 'double':
+    case 'float64':
+      typedArrayName = 'Float64Array';
+      break;
+    default:
+      typedArrayName = '';
+  }
+
+  return typedArrayName;
+}
+
+function getTypedArrayElementName(type) {
+  const t = type.type.toLowerCase();
+  if (t === 'int8') {
+    return 'int8';
+  } else if (t === 'uint8') {
+    return 'uint8';
+  } else if (t === 'int16') {
+    return 'int16';
+  } else if (t === 'uint16') {
+    return 'uint16';
+  } else if (t === 'int32') {
+    return 'int32';
+  } else if (t === 'uint32') {
+    return 'uint32';
+  } else if (t === 'float64') {
+    return 'double';
+  } else if (t === 'float32') {
+    return 'float';
+  } else if (t === 'char') {
+    return 'int8';
+  } else if (t === 'byte') {
+    return 'uint8';
+  } else {
+    return '';
+  }
+}
+
+const primitiveBaseType = ['Bool', 'Int8', 'UInt8', 'Int16', 'UInt16', 'Int32', 'UInt32',
+                           'Int64', 'UInt64', 'Float64', 'Float32', 'Char', 'Byte', 'String'];
+const typedArrayType = ['int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32',
+                        'float64', 'float32', 'char', 'byte'];
+
+let existedModules = [];
+
+function isExisted(requiredModule) {
+  return existedModules.indexOf(requiredModule) !== -1;
+}
+
+function isPrimitivePackage(baseType) {
+  return primitiveBaseType.indexOf(baseType.type) !== -1;
+}
+
+function isTypedArrayType(type) {
+  return typedArrayType.indexOf(type.type.toLowerCase()) !== -1;
+}
+
+const usePlainTypedArray = isTypedArrayType(it.spec.baseType);
+const currentTypedArray = getTypedArrayName(it.spec.baseType);
+const currentTypedArrayElementType = getTypedArrayElementName(it.spec.baseType);
+
+function shouldRequire(baseType, fieldType) {
+  let requiredModule = '{{=getPackageNameByType(fieldType)}}/{{=getModulePathByType(fieldType)}}';
+  let shouldRequire = !isPrimitivePackage(baseType) && (fieldType.isArray || !fieldType.isPrimitiveType || fieldType.type === 'string');
+
+  if (shouldRequire && !isExisted(requiredModule)) {
+    existedModules.push(requiredModule);
+    return true;
+  } else {
+    return false;
+  }
+}
+
+function getWrapperNameByType(type) {
+  if (type.isPrimitiveType) {
+    return getPrimitiveNameByType(type) + 'Wrapper';
+  } else {
+    return type.type + 'Wrapper';
+  }
+}
+
+function getModulePathByType(type, messageInfo) {
+  if (type.isPrimitiveType) {
+    return 'std_msgs__msg__' + getPrimitiveNameByType(type) + '.js';
+  }
+
+  if (
+    messageInfo &&
+    messageInfo.subFolder === 'action' &&
+    messageInfo.pkgName === type.pkgName &&
+    (type.type.endsWith('_Goal') || type.type.endsWith('_Result') || type.type.endsWith('_Feedback'))
+  ) {
+    return type.pkgName + '__action__' + type.type + '.js';
+  }
+
+  return type.pkgName + '__msg__' + type.type + '.js';
+}
+
+function getPackageNameByType(type) {
+  if (type.isPrimitiveType) {
+    return 'std_msgs';
+  } else {
+    return type.pkgName;
+  }
+}
+
+function extractMemberNames(fields) {
+  let memberNames = [];
+  fields.forEach(field => {
+    memberNames.push(field.name);
+  });
+  return JSON.stringify(memberNames);
+}
+}}
+
+const typesupport = require('bindings')('{{=it.messageInfo.pkgName}}__rosidl_node').{{=it.messageInfo.interfaceName}};
+
+const typesupportDeps = {};
+{{~ it.spec.fields :field}}
+  {{? shouldRequire(it.spec.baseType, field.type)}}
+const {{=getWrapperNameByType(field.type)}} = require('../../generated/{{=getPackageNameByType(field.type)}}/{{=getModulePathByType(field.type, it.messageInfo)}}');
+    {{? it.options.idlProvider === 'rosidl' && field.type.pkgName}}
+typesupportDeps['{{=field.type.pkgName}}/{{=field.type.type}}'] = {{=getWrapperNameByType(field.type)}};
+    {{?}}
+  {{?}}
+{{~}}
+
+// Define the wrapper class.
+class {{=objectWrapper}} {
+  constructor(other) {
+    this._rawRos = undefined;
+    if (other === undefined) {
+      this._proxyObj = {};
+    } else if (other instanceof {{=objectWrapper}}) {
+      this._proxyObj = other._proxyObj;
+    } else {
+      this._proxyObj = other;
+    }
+  }
+
+  static _createRosMessage() {
+    return typesupport.createRosMessage();
+  }
+
+  static _toJsObject(buffer, offset = 0) {
+    return typesupport.toJsObject(buffer, offset, typesupportDeps);
+  }
+
+  static _toRosMessage(obj) {
+    const rosMessage = {{=objectWrapper}}._createRosMessage();
+    {{=objectWrapper}}._writeRosMessage(obj, rosMessage, 0);
+    return rosMessage;
+  }
+
+  static _writeRosMessage(obj, buffer, offset) {
+    typesupport.writeRosMessage(obj, buffer, offset, typesupportDeps);
+  }
+
+  toRawROS() {
+    this.freeze();
+    return this._rawRos;
+  }
+
+  freeze(own = false, checkConsistency = false) {
+    if (Object.getOwnPropertyNames(this._proxyObj).length === 0) {
+      this._rawRos = {{=objectWrapper}}._createRosMessage();
+    }
+    this._rawRos = {{=objectWrapper}}._toRosMessage(this._proxyObj);
+  }
+
+  serialize() {
+    return this.toRawROS();
+  }
+
+  deserialize(rawRos) {
+    this._proxyObj = {{=objectWrapper}}._toJsObject(rawRos);
+  }
+
+  toPlainObject(enableTypedArray) {
+    return this._proxyObj;
+  }
+
+  static freeStruct(refObject) {
+    // managed by v8 gc
+  }
+
+  static destoryRawROS(msg) {
+    // managed by v8 gc
+  }
+
+  static type() {
+    return {pkgName: '{{=it.messageInfo.pkgName}}', subFolder: '{{=it.messageInfo.subFolder}}', interfaceName: '{{=it.messageInfo.interfaceName}}'};
+  }
+
+  static isPrimitive() {
+    return {{=isPrimitivePackage(it.spec.baseType)}};
+  }
+
+  static get isROSArray() {
+    return false;
+  }
+
+  get refObject() {
+    return this._rawRos;
+  }
+
+  {{~ it.spec.fields :field}}
+  get {{=field.name}}() {
+    return this._proxyObj['{{=field.name}}'];
+  }
+
+  set {{=field.name}}(value) {
+    this._proxyObj['{{=field.name}}'] = value;
+  }
+  {{~}}
+
+  copy(other) {
+    this._proxyObj = other._proxyObj;
+  }
+
+  static get classType() {
+    return {{=objectWrapper}};
+  }
+
+  static get ROSMessageDef() {
+    return {{=compactMsgDefJSON}};
+  }
+
+  hasMember(name) {
+    let memberNames = {{=extractMemberNames(it.spec.fields)}};
+    return memberNames.indexOf(name) !== -1;
+  }
+}
+
+module.exports = {{=objectWrapper}};
+
+/*
+ * The following is the original spec object coming from parser:
+{{=it.json}}
+*/

From 8fb92f64b7ec5a812e5e6752b52edbc48026f172 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 11 Dec 2020 14:26:20 +0800
Subject: [PATCH 29/64] pass single process test

---
 rosidl_gen/idl_generator.js             | 35 ++++++++++++++++---------
 rosidl_gen/templates/cppDefinitions.dot |  4 +--
 src/type_conversion.hpp                 | 21 ++++++++++-----
 test/test-single-process.js             |  2 +-
 4 files changed, 39 insertions(+), 23 deletions(-)

diff --git a/rosidl_gen/idl_generator.js b/rosidl_gen/idl_generator.js
index 07388da1..2f351910 100644
--- a/rosidl_gen/idl_generator.js
+++ b/rosidl_gen/idl_generator.js
@@ -201,6 +201,15 @@ function pascalToSnakeCase(s) {
 }
 
 function getRosHeaderField(messageInfo) {
+  if (isServiceMessage(messageInfo)) {
+    const interfaceName = messageInfo.interfaceName.slice(
+      0,
+      messageInfo.interfaceName.lastIndexOf('_')
+    );
+    return `${messageInfo.pkgName}/${messageInfo.subFolder}/${pascalToSnakeCase(
+      interfaceName
+    )}.h`;
+  }
   return `${messageInfo.pkgName}/${messageInfo.subFolder}/${pascalToSnakeCase(
     messageInfo.interfaceName
   )}.h`;
@@ -326,18 +335,19 @@ async function generateCppDefinitions(pkgName, pkgInfo, rosIdlDb, options) {
     return getStructType(messageInfo);
   };
 
-  const messages = [];
+  const messages = await Promise.all(
+    pkgInfo.messages.map(async (messageInfo) => ({
+      info: messageInfo,
+      spec: await rosIdlDb.getMessageSpec(messageInfo),
+      structType: getStructType(messageInfo),
+    }))
+  );
 
-  // this is slower but doing it sequentially maintains ordering
-  for (let messageInfo of pkgInfo.messages) {
-    if (!isServiceMessage(messageInfo)) {
-      messages.push({
-        info: messageInfo,
-        spec: await rosIdlDb.getMessageSpec(messageInfo),
-        structType: getStructType(messageInfo),
-      });
-    }
-  }
+  const includeHeadersSet = new Set();
+  messages.forEach(({ info }) => {
+    includeHeadersSet.add(getRosHeaderField(info));
+  });
+  const includeHeaders = Array.from(includeHeadersSet.values());
 
   const dependentPackages = await rosIdlDb.getDependentPackages(pkgName);
 
@@ -346,10 +356,10 @@ async function generateCppDefinitions(pkgName, pkgInfo, rosIdlDb, options) {
       pkgName,
       pkgInfo,
       messages,
+      includeHeaders,
       dependentPackages,
       rosIdlDb,
       getStructType,
-      getRosHeaderField,
       getStructTypeFromRosType,
       getJsType,
       isInternalField,
@@ -364,7 +374,6 @@ async function generateCppDefinitions(pkgName, pkgInfo, rosIdlDb, options) {
       dependentPackages,
       rosIdlDb,
       getStructType,
-      getRosHeaderField,
       getStructTypeFromRosType,
       getJsType,
       isInternalField,
diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index 35986864..75276574 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -6,8 +6,8 @@
 #include "definitions.hpp"
 #include "../../type_conversion.hpp"
 
-{{~ it.messages : message}}
-#include <{{=it.getRosHeaderField(message.info)}}>
+{{~ it.includeHeaders : header}}
+#include <{{=header}}>
 {{~}}
 
 namespace rclnodejs {
diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index 7798bd23..537fae9e 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -95,14 +95,13 @@ inline uint16_t ToNativeChecked<uint16_t>(v8::Local<v8::Value> val) {
 
 template <>
 inline int64_t ToNativeChecked<int64_t>(v8::Local<v8::Value> val) {
-  return val->ToBigInt(Nan::GetCurrentContext()).ToLocalChecked()->Int64Value();
+  return val->IntegerValue(Nan::GetCurrentContext()).ToChecked();
 }
 
 template <>
 inline uint64_t ToNativeChecked<uint64_t>(v8::Local<v8::Value> val) {
-  return val->ToBigInt(Nan::GetCurrentContext())
-      .ToLocalChecked()
-      ->Uint64Value();
+  return static_cast<uint64_t>(
+      val->IntegerValue(Nan::GetCurrentContext()).ToChecked());
 }
 
 template <>
@@ -383,13 +382,21 @@ inline v8::Local<v8::Value> ToJsChecked(T val) {
 
 template <>
 inline v8::Local<v8::Value> ToJsChecked<int64_t>(int64_t val) {
-  return v8::BigInt::New(Nan::GetCurrentContext()->GetIsolate(), val);
+  // max/min safe integer
+  if (val > 9007199254740991 || val < -9007199254740991) {
+    return v8::BigInt::New(Nan::GetCurrentContext()->GetIsolate(), val);
+  }
+  return Nan::New<v8::Number>(val);
 }
 
 template <>
 inline v8::Local<v8::Value> ToJsChecked<uint64_t>(uint64_t val) {
-  return v8::BigInt::NewFromUnsigned(Nan::GetCurrentContext()->GetIsolate(),
-                                     val);
+  // max/min safe integer
+  if (val > 9007199254740991) {
+    return v8::BigInt::NewFromUnsigned(Nan::GetCurrentContext()->GetIsolate(),
+                                       val);
+  }
+  return Nan::New<v8::Number>(val);
 }
 
 // can't specialize const ref, probably need to use SFINAE
diff --git a/test/test-single-process.js b/test/test-single-process.js
index 75b871f9..6ee22d8b 100644
--- a/test/test-single-process.js
+++ b/test/test-single-process.js
@@ -51,7 +51,7 @@ describe('Test rclnodejs nodes in a single process', function () {
       'single_ps_channel1'
     );
     var timer = publisherNode.createTimer(100, () => {
-      publisher.publish(msg);
+      publisher.publish({ data: msg });
     });
     rclnodejs.spin(subscriptionNode);
     rclnodejs.spin(publisherNode);

From f403c789b849532890f9a1369974cf49fc1d0f50 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 11 Dec 2020 14:54:41 +0800
Subject: [PATCH 30/64] support default messages

---
 rosidl_gen/templates/cppDefinitions.dot | 25 +++++++--
 src/type_conversion.hpp                 |  4 +-
 test/test-default-messages.js           | 74 +++++++++++++++++++++++++
 3 files changed, 97 insertions(+), 6 deletions(-)
 create mode 100644 test/test-default-messages.js

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index 75276574..28da4655 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -41,12 +41,23 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
     {{? !it.isInternalField(field)}}
   {
     auto js_value = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
+      {{? field.default_value !== null}}
+    if (js_value->IsUndefined()) {
+      // default value initialized when message is created.
+      return;
+    }
+      {{?}}
       {{
     const jsType = it.getJsType(field.type);
       }}
       {{? !field.type.isArray}}
         {{? field.type.isPrimitiveType}}
-    msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value);
+    try {
+      msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value);
+    } catch (const TypeError& e) {
+      Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
+      return;
+    }
         {{??}}
     auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
     auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("_writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
@@ -61,7 +72,15 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
       {{??}}
         {{? field.type.isFixedSizeArray}}
           {{? field.type.isPrimitiveType}}
-    WriteNativeArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}});
+    try {
+      WriteNativeArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}});
+    } catch (const TypeError& e) {
+      Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
+      return;
+    } catch (const OutOfRangeError& e) {
+      Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
+      return;
+    }
           {{??}}
     // TODO: handle non-primitive arrays types
     auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
@@ -75,8 +94,6 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
   }
   {{?}}
 {{~}}
-
-  info.GetReturnValue().Set(Nan::Undefined());
 }
 
 NAN_METHOD(rclnodejs__{{=message.structType}}::ToJsObject) {
diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index 537fae9e..3a691ef3 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -31,7 +31,7 @@ class TypeError : public std::exception {
 
   const char* what() const noexcept override { return _what.c_str(); }
 
-  std::string what_detailed(const std::string& field_name) {
+  std::string what_detailed(const std::string& field_name) const {
     return "expected \"" + field_name + "\" to be " + _expected_types;
   }
 
@@ -48,7 +48,7 @@ class OutOfRangeError : public std::exception {
 
   const char* what() const noexcept override { return _what.c_str(); }
 
-  std::string what_detailed(const std::string& field_name) {
+  std::string what_detailed(const std::string& field_name) const {
     return "expected \"" + field_name + "\" to have length " +
            std::to_string(_len);
   }
diff --git a/test/test-default-messages.js b/test/test-default-messages.js
new file mode 100644
index 00000000..2ed9069f
--- /dev/null
+++ b/test/test-default-messages.js
@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * 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 assert = require('assert');
+const rclnodejs = require('../index.js');
+
+describe('rclnodejs message communication', function () {
+  this.timeout(60 * 1000);
+
+  before(function () {
+    return rclnodejs.init();
+  });
+
+  after(function () {
+    rclnodejs.shutdown();
+  });
+
+  it('should publish messages with unfilled defaults', function (done) {
+    const publisherNode = rclnodejs.createNode('defaults_message_publisher');
+    const subscriptionNode = rclnodejs.createNode(
+      'defaults_message_subscriber'
+    );
+
+    const subscription = subscriptionNode.createSubscription(
+      'test_msgs/msg/Defaults',
+      'defaults_message_channel1',
+      (msg) => {
+        timer.cancel();
+        assert.strictEqual(msg.bool_value, true);
+        assert.strictEqual(msg.byte_value, 50);
+        assert.strictEqual(msg.char_value, 100);
+        assert.strictEqual(msg.float32_value, 1.125);
+        assert.strictEqual(msg.float64_value, 1.125);
+        assert.strictEqual(msg.int8_value, -50);
+        assert.strictEqual(msg.uint8_value, 200);
+        assert.strictEqual(msg.int16_value, -1000);
+        assert.strictEqual(msg.uint16_value, 2000);
+        assert.strictEqual(msg.int32_value, -30000);
+        assert.strictEqual(msg.uint32_value, 60000);
+        assert.strictEqual(msg.int64_value, -40000000);
+        assert.strictEqual(msg.uint64_value, 50000000);
+        publisherNode.destroy();
+        subscriptionNode.destroy();
+        done();
+      }
+    );
+
+    var publisher = publisherNode.createPublisher(
+      'test_msgs/msg/Defaults',
+      'defaults_message_channel1'
+    );
+    var timer = publisherNode.createTimer(100, () => {
+      publisher.publish({});
+    });
+    rclnodejs.spin(subscriptionNode);
+    rclnodejs.spin(publisherNode);
+  });
+});

From 1606197daf63d229e8965060f8cdcca1c467a4da Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 11 Dec 2020 16:17:19 +0800
Subject: [PATCH 31/64] passes fixed array tests

---
 rosidl_gen/templates/cppDefinitions.dot |  52 ++++++---
 rosidl_gen/templates/messageRosidl.dot  |   1 +
 src/type_conversion.hpp                 | 101 ++++++++++--------
 test/test-default-messages.js           |   4 +-
 test/test-fixed-array.js                | 134 ------------------------
 test/test-fixed-arrays.js               | 100 ++++++++++++++++++
 6 files changed, 198 insertions(+), 194 deletions(-)
 delete mode 100644 test/test-fixed-array.js
 create mode 100644 test/test-fixed-arrays.js

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index 28da4655..f0532842 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -84,8 +84,15 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
           {{??}}
     // TODO: handle non-primitive arrays types
     auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-    auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("_writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-    WriteNativeObjectArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}}, info[1], offset, typesupport_func);
+    try {
+      WriteNativeObjectArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}}, info[1], offset, typesupport_msg);
+    } catch (const TypeError& e) {
+      Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
+      return;
+    } catch (const OutOfRangeError& e) {
+      Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
+      return;
+    }
           {{?}}
         {{??}}
     // TODO: handle sequences
@@ -102,30 +109,41 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::ToJsObject) {
   auto* msg = reinterpret_cast<{{=message.structType}}*>(buffer + offset);
   auto typesupport = Nan::To<v8::Object>(info[2]).ToLocalChecked();
 
-  auto jsObj = Nan::New<v8::Object>();
+  auto js_obj = Nan::New<v8::Object>();
 {{~ message.spec.fields : field}}
-{{? !it.isInternalField(field)}}
-{{? !field.type.isArray}}
-{{? field.type.isPrimitiveType}}
-  Nan::Set(jsObj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsChecked(msg->{{=field.name}}));
-{{??}}
+  {{? !it.isInternalField(field)}}
+    {{? !field.type.isArray}}
+      {{? field.type.isPrimitiveType}}
+  Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsChecked(msg->{{=field.name}}));
+      {{??}}
   {
     auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-    auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("toJsObject").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("_toJsObject").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
     v8::Local<v8::Value> argv[] = {
       info[0],
       Nan::New(static_cast<uint32_t>(reinterpret_cast<char*>(&msg->{{=field.name}}) - buffer))
     };
-    auto {{=field.name}}_jsObj = Nan::Call(typesupport_func, Nan::New<v8::Object>(), 2, argv).ToLocalChecked();
-    Nan::Set(jsObj, Nan::New("{{=field.name}}").ToLocalChecked(), {{=field.name}}_jsObj);
+    auto {{=field.name}}_js_obj = Nan::Call(typesupport_func, Nan::New<v8::Object>(), 2, argv).ToLocalChecked();
+    Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), {{=field.name}}_js_obj);
   }
-{{?}}
-{{??}}
-  // TODO: handle array
-{{?}}
-{{?}}
+      {{?}}
+    {{??}}
+      {{? field.type.isFixedSizeArray}}
+        {{? field.type.isPrimitiveType}}
+  Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsArrayChecked(msg->{{=field.name}}, {{=field.type.arraySize}}));
+        {{??}}
+  {
+    auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsObjectArrayChecked(msg->{{=field.name}}, {{=field.type.arraySize}}, info[0], offset, typesupport_msg));
+  }
+        {{?}}
+      {{??}}
+  // TODO: handle sequences
+      {{?}}
+    {{?}}
+  {{?}}
 {{~}}
-  info.GetReturnValue().Set(jsObj);
+  info.GetReturnValue().Set(js_obj);
 }
 
 {{~}}
diff --git a/rosidl_gen/templates/messageRosidl.dot b/rosidl_gen/templates/messageRosidl.dot
index c1243f03..55f89139 100644
--- a/rosidl_gen/templates/messageRosidl.dot
+++ b/rosidl_gen/templates/messageRosidl.dot
@@ -267,6 +267,7 @@ class {{=objectWrapper}} {
   freeze(own = false, checkConsistency = false) {
     if (Object.getOwnPropertyNames(this._proxyObj).length === 0) {
       this._rawRos = {{=objectWrapper}}._createRosMessage();
+      return;
     }
     this._rawRos = {{=objectWrapper}}._toRosMessage(this._proxyObj);
   }
diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index 3a691ef3..e6add421 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -252,7 +252,19 @@ inline void WriteNativeArrayImpl(v8::Local<v8::Value> val, NativeT* arr,
 }
 
 template <typename T>
-inline void WriteNativeArray(v8::Local<v8::Value> val, T* arr, size_t len);
+inline void WriteNativeArray(v8::Local<v8::Value> val, T* arr, size_t len) {
+  if (!val->IsArray()) {
+    throw TypeError({"array"});
+  }
+  auto array = val.As<v8::Array>();
+  if (array->Length() < len) {
+    throw OutOfRangeError(len);
+  }
+  for (size_t i = 0; i < len; ++i) {
+    auto item = Nan::Get(array, i).ToLocalChecked();
+    arr[i] = ToNativeChecked<T>(std::move(item));
+  }
+}
 
 template <>
 inline void WriteNativeArray<int8_t>(v8::Local<v8::Value> val, int8_t* arr,
@@ -318,43 +330,11 @@ inline void WriteNativeArray<bool>(v8::Local<v8::Value> val, bool* arr,
   }
 }
 
-template <>
-inline void WriteNativeArray<float>(v8::Local<v8::Value> val, float* arr,
-                                    size_t len) {
-  if (!val->IsArray()) {
-    throw TypeError({"array"});
-  }
-  auto array = val.As<v8::Array>();
-  if (array->Length() < len) {
-    throw OutOfRangeError(len);
-  }
-  for (size_t i = 0; i < len; ++i) {
-    auto item = Nan::Get(array, i).ToLocalChecked();
-    arr[i] = static_cast<float>(Nan::To<double>(std::move(item)).ToChecked());
-  }
-}
-
-template <>
-inline void WriteNativeArray<double>(v8::Local<v8::Value> val, double* arr,
-                                     size_t len) {
-  if (!val->IsArray()) {
-    throw TypeError({"array"});
-  }
-  auto array = val.As<v8::Array>();
-  if (array->Length() < len) {
-    throw OutOfRangeError(len);
-  }
-  for (size_t i = 0; i < len; ++i) {
-    auto item = Nan::Get(array, i).ToLocalChecked();
-    arr[i] = Nan::To<double>(std::move(item)).ToChecked();
-  }
-}
-
 template <typename T>
-inline void WriteNativeObjectArray(v8::Local<v8::Value> val, T* arr, size_t len,
-                                   v8::Local<v8::Value> node_buffer,
-                                   size_t offset,
-                                   v8::Local<v8::Function> typesupport_func) {
+inline void WriteNativeObjectArray(
+    const v8::Local<v8::Value>& val, T* arr, size_t len,
+    const v8::Local<v8::Value>& node_buffer, size_t offset,
+    const v8::Local<v8::Object>& typesupport_msg) {
   if (!val->IsArray()) {
     throw TypeError({"array"});
   }
@@ -365,6 +345,12 @@ inline void WriteNativeObjectArray(v8::Local<v8::Value> val, T* arr, size_t len,
   auto msg_base = node::Buffer::Data(node_buffer) + offset;
   v8::Local<v8::Value> argv[] = {Nan::Undefined(), node_buffer,
                                  Nan::Undefined()};
+  auto typesupport_func =
+      Nan::To<v8::Function>(
+          Nan::Get(typesupport_msg,
+                   Nan::New("_writeRosMessage").ToLocalChecked())
+              .ToLocalChecked())
+          .ToLocalChecked();
   for (size_t i = 0; i < len; ++i) {
     auto item = Nan::Get(array, i).ToLocalChecked();
     argv[0] = item;
@@ -399,19 +385,52 @@ inline v8::Local<v8::Value> ToJsChecked<uint64_t>(uint64_t val) {
   return Nan::New<v8::Number>(val);
 }
 
-// can't specialize const ref, probably need to use SFINAE
 template <>
 inline v8::Local<v8::Value> ToJsChecked<rosidl_runtime_c__String>(
     rosidl_runtime_c__String val) {
   return Nan::New(val.data).ToLocalChecked();
 }
 
-// can't specialize const ref, probably need to use SFINAE
 template <>
 inline v8::Local<v8::Value> ToJsChecked<rosidl_runtime_c__U16String>(
     rosidl_runtime_c__U16String val) {
-  // TODO:
-  throw new std::runtime_error("not implemented");
+  return Nan::New(u16string_to_string(reinterpret_cast<char16_t*>(val.data)))
+      .ToLocalChecked();
+}
+
+template <typename T>
+inline v8::Local<v8::Value> ToJsArrayChecked(T* arr, size_t len) {
+  auto js_array = Nan::New<v8::Array>();
+  for (size_t i = 0; i < len; i++) {
+    Nan::Set(js_array, i, ToJsChecked(arr[i]));
+  }
+  return js_array;
+}
+
+template <typename T>
+inline v8::Local<v8::Value> ToJsObjectArrayChecked(
+    T* arr, size_t len, const v8::Local<v8::Value>& node_buffer, size_t offset,
+    const v8::Local<v8::Object>& typesupport_msg) {
+  auto js_array = Nan::New<v8::Array>();
+
+  auto msg_base = node::Buffer::Data(node_buffer) + offset;
+  v8::Local<v8::Value> argv[] = {Nan::Undefined(), node_buffer,
+                                 Nan::Undefined()};
+  auto typesupport_func =
+      Nan::To<v8::Function>(
+          Nan::Get(typesupport_msg, Nan::New("_toJsObject").ToLocalChecked())
+              .ToLocalChecked())
+          .ToLocalChecked();
+
+  for (size_t i = 0; i < len; i++) {
+    argv[0] = node_buffer;
+    argv[1] = Nan::New(
+        static_cast<uint32_t>(reinterpret_cast<char*>(&arr[i]) - msg_base));
+    auto js_obj = Nan::Call(typesupport_func, Nan::New<v8::Object>(), 2, argv)
+                      .ToLocalChecked();
+    Nan::Set(js_array, i, js_obj);
+  }
+  return js_array;
 }
 
 }  // namespace rclnodejs
diff --git a/test/test-default-messages.js b/test/test-default-messages.js
index 2ed9069f..52c19307 100644
--- a/test/test-default-messages.js
+++ b/test/test-default-messages.js
@@ -61,11 +61,11 @@ describe('rclnodejs message communication', function () {
       }
     );
 
-    var publisher = publisherNode.createPublisher(
+    const publisher = publisherNode.createPublisher(
       'test_msgs/msg/Defaults',
       'defaults_message_channel1'
     );
-    var timer = publisherNode.createTimer(100, () => {
+    const timer = publisherNode.createTimer(100, () => {
       publisher.publish({});
     });
     rclnodejs.spin(subscriptionNode);
diff --git a/test/test-fixed-array.js b/test/test-fixed-array.js
deleted file mode 100644
index 234f4bfc..00000000
--- a/test/test-fixed-array.js
+++ /dev/null
@@ -1,134 +0,0 @@
-// Copyright (c) 2018 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 assert = require('assert');
-const rclnodejs = require('../index.js');
-
-/* eslint-disable camelcase */
-/* eslint-disable key-spacing */
-/* eslint-disable comma-spacing */
-
-describe('Test message which has a fixed array of 36', function () {
-  this.timeout(60 * 1000);
-
-  const mapData = {
-    map: {
-      header: {
-        stamp: {
-          sec: 123456,
-          nanosec: 789,
-        },
-        frame_id: 'main_frame',
-      },
-      info: {
-        map_load_time: {
-          sec: 123456,
-          nanosec: 789,
-        },
-        resolution: 1.0,
-        width: 1024,
-        height: 768,
-        origin: {
-          position: {
-            x: 0.0,
-            y: 0.0,
-            z: 0.0,
-          },
-          orientation: {
-            x: 0.0,
-            y: 0.0,
-            z: 0.0,
-            w: 0.0,
-          },
-        },
-      },
-      data: Int8Array.from([1, 2, 3]),
-    },
-    initial_pose: {
-      header: {
-        stamp: {
-          sec: 123456,
-          nanosec: 789,
-        },
-        frame_id: 'main frame',
-      },
-      pose: {
-        pose: {
-          position: { x: 11.5, y: 112.75, z: 9.0 },
-          orientation: { x: 31.5, y: 21.5, z: 7.5, w: 1.5 },
-        },
-        covariance: Float64Array.from({ length: 36 }, (v, k) => k),
-      },
-    },
-  };
-
-  before(function () {
-    return rclnodejs.init();
-  });
-
-  after(function () {
-    rclnodejs.shutdown();
-  });
-
-  it('Assigned with an array of 36', function (done) {
-    const node = rclnodejs.createNode('set_map_client');
-    node.createService(
-      'nav_msgs/srv/SetMap',
-      'set_map',
-      (request, response) => {
-        assert.deepStrictEqual(request, mapData);
-        response.success = true;
-        return response;
-      }
-    );
-
-    rclnodejs.spin(node);
-    const client = node.createClient('nav_msgs/srv/SetMap', 'set_map');
-    client.sendRequest(mapData, (response) => {
-      assert.deepStrictEqual(response.success, true);
-      node.destroy();
-      done();
-    });
-  });
-
-  it('Assigned with a longer array', function (done) {
-    mapData.initial_pose.pose.covariance = Float64Array.from(
-      { length: 37 },
-      (v, k) => k
-    );
-    const node = rclnodejs.createNode('set_map_client');
-    const client = node.createClient('nav_msgs/srv/SetMap', 'set_map');
-    assert.throws(() => {
-      client.sendRequest(mapData, (response) => {});
-    }, RangeError);
-    node.destroy();
-    done();
-  });
-
-  it('Assigned with a shorter array', function (done) {
-    mapData.initial_pose.pose.covariance = Float64Array.from(
-      { length: 35 },
-      (v, k) => k
-    );
-    const node = rclnodejs.createNode('set_map_client');
-    const client = node.createClient('nav_msgs/srv/SetMap', 'set_map');
-    assert.throws(() => {
-      client.sendRequest(mapData, (response) => {});
-    }, RangeError);
-    node.destroy();
-    done();
-  });
-});
diff --git a/test/test-fixed-arrays.js b/test/test-fixed-arrays.js
new file mode 100644
index 00000000..f8cd1dc1
--- /dev/null
+++ b/test/test-fixed-arrays.js
@@ -0,0 +1,100 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * 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 assert = require('assert');
+const rclnodejs = require('../index.js');
+
+describe('rclnodejs message communication', function () {
+  this.timeout(60 * 1000);
+
+  before(function () {
+    return rclnodejs.init();
+  });
+
+  after(function () {
+    rclnodejs.shutdown();
+  });
+
+  it('should publish messages with fixed arrays', function (done) {
+    const publisherNode = rclnodejs.createNode('fixed_arrays_publisher');
+    const subscriptionNode = rclnodejs.createNode('fixed_arrays_subscriber');
+    const originalMsg = {
+      bool_values: [true, true, false],
+      byte_values: [0, 1, 2],
+      char_values: [0, 1, 2],
+      float32_values: [0, 1, 2],
+      float64_values: [0, 1, 2],
+      int8_values: [0, 1, 2],
+      uint8_values: [0, 1, 2],
+      int16_values: [0, 1, 2],
+      uint16_values: [0, 1, 2],
+      int32_values: [0, 1, 2],
+      uint32_values: [0, 1, 2],
+      int64_values: [0, 1, 2],
+      uint64_values: [0, 1, 2],
+      string_values: ['a', 'b', 'c'],
+      basic_types_values: [{}, {}, {}],
+      constants_values: [{}, {}, {}],
+      defaults_values: [{}, {}, {}],
+      alignment_check: 0,
+    };
+
+    const subscription = subscriptionNode.createSubscription(
+      'test_msgs/msg/Arrays',
+      'fixed_arrays_channel1',
+      (msg) => {
+        timer.cancel();
+        assert.deepStrictEqual(msg.bool_values, originalMsg.bool_values);
+        assert.deepStrictEqual(msg.byte_values, originalMsg.byte_values);
+        assert.deepStrictEqual(msg.char_values, originalMsg.char_values);
+        assert.deepStrictEqual(msg.float32_values, originalMsg.float32_values);
+        assert.deepStrictEqual(msg.float64_values, originalMsg.float64_values);
+        assert.deepStrictEqual(msg.int8_values, originalMsg.int8_values);
+        assert.deepStrictEqual(msg.uint8_values, originalMsg.uint8_values);
+        assert.deepStrictEqual(msg.int16_values, originalMsg.int16_values);
+        assert.deepStrictEqual(msg.uint16_values, originalMsg.uint16_values);
+        assert.deepStrictEqual(msg.int32_values, originalMsg.int32_values);
+        assert.deepStrictEqual(msg.uint32_values, originalMsg.uint32_values);
+        assert.deepStrictEqual(msg.int64_values, originalMsg.int64_values);
+        assert.deepStrictEqual(msg.uint64_values, originalMsg.uint64_values);
+        assert.deepStrictEqual(msg.string_values, originalMsg.string_values);
+        assert.strictEqual(msg.alignment_check, 0);
+        assert.strictEqual(msg.defaults_values[0].bool_value, true);
+        assert.strictEqual(msg.defaults_values[1].bool_value, true);
+        assert.strictEqual(msg.defaults_values[2].bool_value, true);
+        assert.strictEqual(msg.defaults_values[0].int8_value, -50);
+        assert.strictEqual(msg.defaults_values[1].int8_value, -50);
+        assert.strictEqual(msg.defaults_values[2].int8_value, -50);
+        publisherNode.destroy();
+        subscriptionNode.destroy();
+        done();
+      }
+    );
+
+    const publisher = publisherNode.createPublisher(
+      'test_msgs/msg/Arrays',
+      'fixed_arrays_channel1'
+    );
+    const timer = publisherNode.createTimer(100, () => {
+      publisher.publish(originalMsg);
+    });
+    rclnodejs.spin(subscriptionNode);
+    rclnodejs.spin(publisherNode);
+  });
+});

From a247084fd8fe80040e1a231d161976dc35644c64 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 11 Dec 2020 16:42:37 +0800
Subject: [PATCH 32/64] additional tests for default values

---
 rosidl_gen/templates/cppDefinitions.dot | 68 ++++++++++---------------
 test/test-default-messages.js           | 41 +++++++++++++++
 2 files changed, 68 insertions(+), 41 deletions(-)

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index f0532842..859ea826 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -37,70 +37,56 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
   auto* msg = reinterpret_cast<{{=message.structType}}*>(buffer + offset);
   auto typesupport = Nan::To<v8::Object>(info[3]).ToLocalChecked();
 
+  try {
   {{~ message.spec.fields : field}}
     {{? !it.isInternalField(field)}}
-  {
-    auto js_value = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
+    [&](){
+      auto js_value = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
       {{? field.default_value !== null}}
-    if (js_value->IsUndefined()) {
-      // default value initialized when message is created.
-      return;
-    }
+      if (js_value->IsUndefined()) {
+        // default value is initialized when message is created.
+        return;
+      }
       {{?}}
       {{
     const jsType = it.getJsType(field.type);
       }}
       {{? !field.type.isArray}}
         {{? field.type.isPrimitiveType}}
-    try {
       msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value);
-    } catch (const TypeError& e) {
-      Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
-      return;
-    }
         {{??}}
-    auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-    auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("_writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-    auto {{=field.name}}_js_obj = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
-    v8::Local<v8::Value> argv[] = {
-      {{=field.name}}_js_obj,
-      info[1],
-      Nan::New(static_cast<uint32_t>(reinterpret_cast<char*>(&msg->{{=field.name}}) - reinterpret_cast<char*>(msg)))
-    };
-    Nan::Call(typesupport_func, Nan::New<v8::Object>(), 3, argv).ToLocalChecked();
+      auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+      auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("_writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+      auto {{=field.name}}_js_obj = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
+      v8::Local<v8::Value> argv[] = {
+        {{=field.name}}_js_obj,
+        info[1],
+        Nan::New(static_cast<uint32_t>(reinterpret_cast<char*>(&msg->{{=field.name}}) - reinterpret_cast<char*>(msg)))
+      };
+      Nan::Call(typesupport_func, Nan::New<v8::Object>(), 3, argv).ToLocalChecked();
         {{?}}
       {{??}}
         {{? field.type.isFixedSizeArray}}
           {{? field.type.isPrimitiveType}}
-    try {
       WriteNativeArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}});
-    } catch (const TypeError& e) {
-      Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
-      return;
-    } catch (const OutOfRangeError& e) {
-      Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
-      return;
-    }
           {{??}}
-    // TODO: handle non-primitive arrays types
-    auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-    try {
+      auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
       WriteNativeObjectArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}}, info[1], offset, typesupport_msg);
-    } catch (const TypeError& e) {
-      Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
-      return;
-    } catch (const OutOfRangeError& e) {
-      Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
-      return;
-    }
           {{?}}
         {{??}}
-    // TODO: handle sequences
+      // TODO: handle sequences
         {{?}}
     {{?}}
-  }
+    }();
   {{?}}
 {{~}}
+  } catch (const TypeError& e) {
+    Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
+    return;
+  } catch (const OutOfRangeError& e) {
+    Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
+    return;
+  }
 }
 
 NAN_METHOD(rclnodejs__{{=message.structType}}::ToJsObject) {
@@ -138,7 +124,7 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::ToJsObject) {
   }
         {{?}}
       {{??}}
-  // TODO: handle sequences
+    // TODO: handle sequences
       {{?}}
     {{?}}
   {{?}}
diff --git a/test/test-default-messages.js b/test/test-default-messages.js
index 52c19307..b7bf9430 100644
--- a/test/test-default-messages.js
+++ b/test/test-default-messages.js
@@ -71,4 +71,45 @@ describe('rclnodejs message communication', function () {
     rclnodejs.spin(subscriptionNode);
     rclnodejs.spin(publisherNode);
   });
+
+  it.only('overwrites the default values when it is provided', function (done) {
+    const publisherNode = rclnodejs.createNode('defaults_message_publisher');
+    const subscriptionNode = rclnodejs.createNode(
+      'defaults_message_subscriber'
+    );
+
+    const subscription = subscriptionNode.createSubscription(
+      'test_msgs/msg/Defaults',
+      'defaults_message_channel2',
+      (msg) => {
+        timer.cancel();
+        assert.strictEqual(msg.bool_value, true);
+        assert.strictEqual(msg.byte_value, 50);
+        assert.strictEqual(msg.char_value, 100);
+        assert.strictEqual(msg.float32_value, 1.125);
+        assert.strictEqual(msg.float64_value, 1.125);
+        assert.strictEqual(msg.int8_value, -51);
+        assert.strictEqual(msg.uint8_value, 200);
+        assert.strictEqual(msg.int16_value, -1000);
+        assert.strictEqual(msg.uint16_value, 2000);
+        assert.strictEqual(msg.int32_value, -30000);
+        assert.strictEqual(msg.uint32_value, 60000);
+        assert.strictEqual(msg.int64_value, -40000000);
+        assert.strictEqual(msg.uint64_value, 50000000);
+        publisherNode.destroy();
+        subscriptionNode.destroy();
+        done();
+      }
+    );
+
+    const publisher = publisherNode.createPublisher(
+      'test_msgs/msg/Defaults',
+      'defaults_message_channel2'
+    );
+    const timer = publisherNode.createTimer(100, () => {
+      publisher.publish({ int8_value: -51 });
+    });
+    rclnodejs.spin(subscriptionNode);
+    rclnodejs.spin(publisherNode);
+  });
 });

From bd6688d12943d0c17b05b3faa0e5058dc7e18885 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Mon, 14 Dec 2020 14:45:23 +0800
Subject: [PATCH 33/64] publishing sequences

---
 rosidl_gen/templates/cppDefinitions.dot       | 120 +++++++-----
 rosidl_gen/templates/cppDefinitionsHeader.dot |   2 +
 rosidl_gen/templates/messageRosidl.dot        |   8 +-
 src/type_conversion.hpp                       | 180 ++++++++++++++++--
 test/test-default-messages.js                 |   2 +-
 5 files changed, 241 insertions(+), 71 deletions(-)

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index 859ea826..e35d4e29 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -3,6 +3,10 @@
 // *** DO NOT EDIT directly
 //
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-variable"
+#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
+
 #include "definitions.hpp"
 #include "../../type_conversion.hpp"
 
@@ -19,6 +23,7 @@ NAN_MODULE_INIT(rclnodejs__{{=message.structType}}::Init) {
   clazz->Set(Nan::New("createRosMessage").ToLocalChecked(), Nan::New<v8::FunctionTemplate>(rclnodejs__{{=message.structType}}::CreateRosMessage));
   clazz->Set(Nan::New("writeRosMessage").ToLocalChecked(), Nan::New<v8::FunctionTemplate>(rclnodejs__{{=message.structType}}::WriteRosMessage));
   clazz->Set(Nan::New("toJsObject").ToLocalChecked(), Nan::New<v8::FunctionTemplate>(rclnodejs__{{=message.structType}}::ToJsObject));
+  clazz->Set(Nan::New("initSequence").ToLocalChecked(), Nan::New<v8::FunctionTemplate>(rclnodejs__{{=message.structType}}::InitSequence));
   Nan::Set(target, Nan::New("{{=message.info.interfaceName}}").ToLocalChecked(), Nan::GetFunction(clazz).ToLocalChecked());
 }
 
@@ -31,62 +36,75 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::CreateRosMessage) {
 }
 
 NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
-  auto jsObj = Nan::To<v8::Object>(info[0]).ToLocalChecked();
-  auto* buffer = node::Buffer::Data(info[1]);
-  auto offset = Nan::To<uint32_t>(info[2]).ToChecked();
-  auto* msg = reinterpret_cast<{{=message.structType}}*>(buffer + offset);
-  auto typesupport = Nan::To<v8::Object>(info[3]).ToLocalChecked();
+  auto typesupport = Nan::To<v8::Object>(info[0]).ToLocalChecked();
+  auto js_obj = Nan::To<v8::Object>(info[1]).ToLocalChecked();
+  {{=message.structType}}* msg;
+  if (info[2]->IsExternal()) {
+    msg = reinterpret_cast<{{=message.structType}}*>(info[2].As<v8::External>()->Value());
+  } else {
+    auto* buffer = node::Buffer::Data(info[2]);
+    auto offset = Nan::To<uint32_t>(info[3]).ToChecked();
+    msg = reinterpret_cast<{{=message.structType}}*>(buffer + offset);
+  }
 
+{{~ message.spec.fields : field}}
+{{? !it.isInternalField(field)}}
   try {
-  {{~ message.spec.fields : field}}
-    {{? !it.isInternalField(field)}}
     [&](){
-      auto js_value = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
-      {{? field.default_value !== null}}
+      auto js_value = Nan::Get(js_obj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
+{{? field.default_value !== null}}
       if (js_value->IsUndefined()) {
         // default value is initialized when message is created.
         return;
       }
-      {{?}}
+{{?}}
       {{
     const jsType = it.getJsType(field.type);
       }}
-      {{? !field.type.isArray}}
-        {{? field.type.isPrimitiveType}}
+{{? !field.type.isArray}}
+{{? field.type.isPrimitiveType}}
       msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value);
-        {{??}}
+{{??}}
       auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
       auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("_writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-      auto {{=field.name}}_js_obj = Nan::Get(jsObj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
       v8::Local<v8::Value> argv[] = {
-        {{=field.name}}_js_obj,
-        info[1],
-        Nan::New(static_cast<uint32_t>(reinterpret_cast<char*>(&msg->{{=field.name}}) - reinterpret_cast<char*>(msg)))
+        js_value,
+        Nan::New<v8::External>(&msg->{{=field.name}})
       };
-      Nan::Call(typesupport_func, Nan::New<v8::Object>(), 3, argv).ToLocalChecked();
-        {{?}}
-      {{??}}
-        {{? field.type.isFixedSizeArray}}
-          {{? field.type.isPrimitiveType}}
+      Nan::Call(typesupport_func, Nan::New<v8::Object>(), 2, argv).ToLocalChecked();
+{{?}}
+{{??}}
+{{? field.type.isFixedSizeArray}}
+{{? field.type.isPrimitiveType}}
       WriteNativeArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}});
-          {{??}}
+{{??}}
+      auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+      WriteNativeObjectArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}}, typesupport_msg);
+{{?}}
+{{??}}
+{{? field.type.arraySize === null}}
+      size_t capacity = 0xffffffffffffffff;
+{{??}}
+      size_t capacity = {{=field.type.arraySize}};
+{{?}}
+{{? field.type.isPrimitiveType}}
+      WriteNativeSequence<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, &msg->{{=field.name}}, capacity);
+{{??}}
       auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-      WriteNativeObjectArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}}, info[1], offset, typesupport_msg);
-          {{?}}
-        {{??}}
-      // TODO: handle sequences
-        {{?}}
-    {{?}}
+      WriteNativeObjectSequence<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, &msg->{{=field.name}}, capacity, typesupport_msg);
+{{?}}
+{{?}}
+{{?}}
     }();
-  {{?}}
-{{~}}
   } catch (const TypeError& e) {
-    Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
+    Nan::ThrowTypeError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
     return;
   } catch (const OutOfRangeError& e) {
-    Nan::ThrowError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
+    Nan::ThrowRangeError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
     return;
   }
+{{?}}
+{{~}}
 }
 
 NAN_METHOD(rclnodejs__{{=message.structType}}::ToJsObject) {
@@ -97,11 +115,11 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::ToJsObject) {
 
   auto js_obj = Nan::New<v8::Object>();
 {{~ message.spec.fields : field}}
-  {{? !it.isInternalField(field)}}
-    {{? !field.type.isArray}}
-      {{? field.type.isPrimitiveType}}
+{{? !it.isInternalField(field)}}
+{{? !field.type.isArray}}
+{{? field.type.isPrimitiveType}}
   Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsChecked(msg->{{=field.name}}));
-      {{??}}
+{{??}}
   {
     auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
     auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("_toJsObject").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
@@ -112,26 +130,32 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::ToJsObject) {
     auto {{=field.name}}_js_obj = Nan::Call(typesupport_func, Nan::New<v8::Object>(), 2, argv).ToLocalChecked();
     Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), {{=field.name}}_js_obj);
   }
-      {{?}}
-    {{??}}
-      {{? field.type.isFixedSizeArray}}
-        {{? field.type.isPrimitiveType}}
+{{?}}
+{{??}}
+{{? field.type.isFixedSizeArray}}
+{{? field.type.isPrimitiveType}}
   Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsArrayChecked(msg->{{=field.name}}, {{=field.type.arraySize}}));
-        {{??}}
+{{??}}
   {
     auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
     Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsObjectArrayChecked(msg->{{=field.name}}, {{=field.type.arraySize}}, info[0], offset, typesupport_msg));
   }
-        {{?}}
-      {{??}}
+{{?}}
+{{??}}
     // TODO: handle sequences
-      {{?}}
-    {{?}}
-  {{?}}
+{{?}}
+{{?}}
+{{?}}
 {{~}}
   info.GetReturnValue().Set(js_obj);
 }
 
+NAN_METHOD(rclnodejs__{{=message.structType}}::InitSequence) {
+  auto size = Nan::To<uint32_t>(info[0]).ToChecked();
+  auto* msg = reinterpret_cast<{{=message.structType}}__Sequence*>(info[1].As<v8::External>()->Value());
+  {{=message.structType}}__Sequence__init(msg, size);
+}
+
 {{~}}
 
 NAN_MODULE_WORKER_ENABLED({{=it.pkgName}}, [](auto target) {
@@ -141,3 +165,5 @@ NAN_MODULE_WORKER_ENABLED({{=it.pkgName}}, [](auto target) {
 });
 
 } // namespace rclnodejs
+
+#pragma GCC diagnostic pop
diff --git a/rosidl_gen/templates/cppDefinitionsHeader.dot b/rosidl_gen/templates/cppDefinitionsHeader.dot
index aa500a3e..5ce06a65 100644
--- a/rosidl_gen/templates/cppDefinitionsHeader.dot
+++ b/rosidl_gen/templates/cppDefinitionsHeader.dot
@@ -21,6 +21,8 @@ class rclnodejs__{{=message.structType}} {
   static NAN_METHOD(WriteRosMessage);
 
   static NAN_METHOD(ToJsObject);
+
+  static NAN_METHOD(InitSequence);
 };
 {{~}}
 
diff --git a/rosidl_gen/templates/messageRosidl.dot b/rosidl_gen/templates/messageRosidl.dot
index 55f89139..08c0f638 100644
--- a/rosidl_gen/templates/messageRosidl.dot
+++ b/rosidl_gen/templates/messageRosidl.dot
@@ -164,7 +164,7 @@ const currentTypedArrayElementType = getTypedArrayElementName(it.spec.baseType);
 
 function shouldRequire(baseType, fieldType) {
   let requiredModule = '{{=getPackageNameByType(fieldType)}}/{{=getModulePathByType(fieldType)}}';
-  let shouldRequire = !isPrimitivePackage(baseType) && (fieldType.isArray || !fieldType.isPrimitiveType || fieldType.type === 'string');
+  let shouldRequire = !isPrimitivePackage(baseType) && !fieldType.isPrimitiveType;
 
   if (shouldRequire && !isExisted(requiredModule)) {
     existedModules.push(requiredModule);
@@ -256,7 +256,11 @@ class {{=objectWrapper}} {
   }
 
   static _writeRosMessage(obj, buffer, offset) {
-    typesupport.writeRosMessage(obj, buffer, offset, typesupportDeps);
+    typesupport.writeRosMessage(typesupportDeps, obj, buffer, offset);
+  }
+
+  static _initSequence(size, msg) {
+    typesupport.initSequence(size, msg);
   }
 
   toRawROS() {
diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index e6add421..2ae20620 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -2,6 +2,8 @@
 #define RCLNODEJS_TYPE_CONVERSION_HPP_
 
 #include <nan.h>
+#include <rosidl_runtime_c/primitives_sequence.h>
+#include <rosidl_runtime_c/primitives_sequence_functions.h>
 #include <rosidl_runtime_c/string.h>
 #include <rosidl_runtime_c/string_functions.h>
 #include <rosidl_runtime_c/u16string.h>
@@ -112,12 +114,15 @@ inline float ToNativeChecked<float>(v8::Local<v8::Value> val) {
 template <>
 inline rosidl_runtime_c__String ToNativeChecked<rosidl_runtime_c__String>(
     v8::Local<v8::Value> val) {
+  rosidl_runtime_c__String ros_string;
+  rosidl_runtime_c__String__init(&ros_string);
+  if (!val->IsString()) {
+    return ros_string;
+  };
   Nan::Utf8String utf8(val);
   if (*utf8 == nullptr) {
     throw std::runtime_error("failed to convert value to string");
   }
-  rosidl_runtime_c__String ros_string;
-  rosidl_runtime_c__String__init(&ros_string);
   rosidl_runtime_c__String__assign(&ros_string, *utf8);
   return ros_string;
 }
@@ -125,16 +130,16 @@ inline rosidl_runtime_c__String ToNativeChecked<rosidl_runtime_c__String>(
 template <>
 inline rosidl_runtime_c__U16String ToNativeChecked<rosidl_runtime_c__U16String>(
     v8::Local<v8::Value> val) {
+  rosidl_runtime_c__U16String ros_string;
+  rosidl_runtime_c__U16String__init(&ros_string);
   if (!val->IsString()) {
-    throw TypeError({"string"});
+    return ros_string;
   };
   Nan::Utf8String utf8(val);
   if (*utf8 == nullptr) {
     throw std::runtime_error("failed to convert value to string");
   }
   auto u16s = string_to_u16string(*utf8);
-  rosidl_runtime_c__U16String ros_string;
-  rosidl_runtime_c__U16String__init(&ros_string);
   rosidl_runtime_c__U16String__assign(
       &ros_string, reinterpret_cast<const uint16_t*>(u16s.c_str()));
   return ros_string;
@@ -231,11 +236,11 @@ inline void WriteNativeArrayImpl(v8::Local<v8::Value> val, NativeT* arr,
                                  size_t len) {
   if (!IsTypedArray<TypedArrayT>(val)) {
     if (!val->IsArray()) {
-      throw TypeError({"array", TypedArrayName<TypedArrayT>::Name});
+      return;
     }
     auto array = val.As<v8::Array>();
     if (array->Length() < len) {
-      throw OutOfRangeError(len);
+      len = array->Length();
     }
     for (uint32_t i = 0; i < len; ++i) {
       auto native =
@@ -245,7 +250,7 @@ inline void WriteNativeArrayImpl(v8::Local<v8::Value> val, NativeT* arr,
   } else {
     auto typed_array = val.As<TypedArrayT>();
     if (typed_array->Length() < len) {
-      throw OutOfRangeError(len);
+      len = typed_array->Length();
     }
     typed_array->CopyContents(arr, len * sizeof(NativeT));
   }
@@ -254,11 +259,11 @@ inline void WriteNativeArrayImpl(v8::Local<v8::Value> val, NativeT* arr,
 template <typename T>
 inline void WriteNativeArray(v8::Local<v8::Value> val, T* arr, size_t len) {
   if (!val->IsArray()) {
-    throw TypeError({"array"});
+    return;
   }
   auto array = val.As<v8::Array>();
   if (array->Length() < len) {
-    throw OutOfRangeError(len);
+    len = array->Length();
   }
   for (size_t i = 0; i < len; ++i) {
     auto item = Nan::Get(array, i).ToLocalChecked();
@@ -318,11 +323,11 @@ template <>
 inline void WriteNativeArray<bool>(v8::Local<v8::Value> val, bool* arr,
                                    size_t len) {
   if (!val->IsArray()) {
-    throw TypeError({"array"});
+    return;
   }
   auto array = val.As<v8::Array>();
   if (array->Length() < len) {
-    throw OutOfRangeError(len);
+    len = array->Length();
   }
   for (size_t i = 0; i < len; ++i) {
     auto item = Nan::Get(array, i).ToLocalChecked();
@@ -333,18 +338,15 @@ inline void WriteNativeArray<bool>(v8::Local<v8::Value> val, bool* arr,
 template <typename T>
 inline void WriteNativeObjectArray(
     const v8::Local<v8::Value>& val, T* arr, size_t len,
-    const v8::Local<v8::Value>& node_buffer, size_t offset,
     const v8::Local<v8::Object>& typesupport_msg) {
   if (!val->IsArray()) {
-    throw TypeError({"array"});
+    return;
   }
   auto array = val.As<v8::Array>();
   if (array->Length() < len) {
-    throw OutOfRangeError(len);
+    len = array->Length();
   }
-  auto msg_base = node::Buffer::Data(node_buffer) + offset;
-  v8::Local<v8::Value> argv[] = {Nan::Undefined(), node_buffer,
-                                 Nan::Undefined()};
+  v8::Local<v8::Value> argv[2];
   auto typesupport_func =
       Nan::To<v8::Function>(
           Nan::Get(typesupport_msg,
@@ -354,13 +356,149 @@ inline void WriteNativeObjectArray(
   for (size_t i = 0; i < len; ++i) {
     auto item = Nan::Get(array, i).ToLocalChecked();
     argv[0] = item;
-    argv[2] = Nan::New(
-        static_cast<uint32_t>(reinterpret_cast<char*>(&arr[i]) - msg_base));
-    Nan::Call(typesupport_func, Nan::New<v8::Object>(), 3, argv)
+    argv[1] = Nan::New<v8::External>(&arr[i]);
+    Nan::Call(typesupport_func, Nan::New<v8::Object>(), 2, argv)
         .ToLocalChecked();
   }
 }
 
+template <typename SequenceT>
+inline void InitSequence(SequenceT* seq, size_t size);
+
+template <>
+inline void InitSequence<rosidl_runtime_c__bool__Sequence>(
+    rosidl_runtime_c__bool__Sequence* seq, size_t size) {
+  rosidl_runtime_c__bool__Sequence__init(seq, size);
+}
+
+template <>
+inline void InitSequence<rosidl_runtime_c__byte__Sequence>(
+    rosidl_runtime_c__byte__Sequence* seq, size_t size) {
+  rosidl_runtime_c__byte__Sequence__init(seq, size);
+}
+
+template <>
+inline void InitSequence<rosidl_runtime_c__char__Sequence>(
+    rosidl_runtime_c__char__Sequence* seq, size_t size) {
+  rosidl_runtime_c__char__Sequence__init(seq, size);
+}
+
+template <>
+inline void InitSequence<rosidl_runtime_c__float__Sequence>(
+    rosidl_runtime_c__float__Sequence* seq, size_t size) {
+  rosidl_runtime_c__float__Sequence__init(seq, size);
+}
+
+template <>
+inline void InitSequence<rosidl_runtime_c__double__Sequence>(
+    rosidl_runtime_c__double__Sequence* seq, size_t size) {
+  rosidl_runtime_c__double__Sequence__init(seq, size);
+}
+
+template <>
+inline void InitSequence<rosidl_runtime_c__int8__Sequence>(
+    rosidl_runtime_c__int8__Sequence* seq, size_t size) {
+  rosidl_runtime_c__int8__Sequence__init(seq, size);
+}
+
+template <>
+inline void InitSequence<rosidl_runtime_c__uint8__Sequence>(
+    rosidl_runtime_c__uint8__Sequence* seq, size_t size) {
+  rosidl_runtime_c__uint8__Sequence__init(seq, size);
+}
+
+template <>
+inline void InitSequence<rosidl_runtime_c__int16__Sequence>(
+    rosidl_runtime_c__int16__Sequence* seq, size_t size) {
+  rosidl_runtime_c__int16__Sequence__init(seq, size);
+}
+
+template <>
+inline void InitSequence<rosidl_runtime_c__uint16__Sequence>(
+    rosidl_runtime_c__uint16__Sequence* seq, size_t size) {
+  rosidl_runtime_c__uint16__Sequence__init(seq, size);
+}
+
+template <>
+inline void InitSequence<rosidl_runtime_c__int32__Sequence>(
+    rosidl_runtime_c__int32__Sequence* seq, size_t size) {
+  rosidl_runtime_c__int32__Sequence__init(seq, size);
+}
+
+template <>
+inline void InitSequence<rosidl_runtime_c__uint32__Sequence>(
+    rosidl_runtime_c__uint32__Sequence* seq, size_t size) {
+  rosidl_runtime_c__uint32__Sequence__init(seq, size);
+}
+
+template <>
+inline void InitSequence<rosidl_runtime_c__int64__Sequence>(
+    rosidl_runtime_c__int64__Sequence* seq, size_t size) {
+  rosidl_runtime_c__int64__Sequence__init(seq, size);
+}
+
+template <>
+inline void InitSequence<rosidl_runtime_c__uint64__Sequence>(
+    rosidl_runtime_c__uint64__Sequence* seq, size_t size) {
+  rosidl_runtime_c__uint64__Sequence__init(seq, size);
+}
+
+template <>
+inline void InitSequence<rosidl_runtime_c__String__Sequence>(
+    rosidl_runtime_c__String__Sequence* seq, size_t size) {
+  rosidl_runtime_c__String__Sequence__init(seq, size);
+}
+
+template <>
+inline void InitSequence<rosidl_runtime_c__U16String__Sequence>(
+    rosidl_runtime_c__U16String__Sequence* seq, size_t size) {
+  rosidl_runtime_c__U16String__Sequence__init(seq, size);
+}
+
+template <typename SequenceT>
+inline void WriteNativeSequence(v8::Local<v8::Value> val, SequenceT* seq,
+                                size_t capacity) {
+  if (!val->IsTypedArray() && !val->IsArray()) {
+    return;
+  }
+  uint32_t len;
+  if (val->IsTypedArray()) {
+    len = val.As<v8::TypedArray>()->Length();
+  } else {
+    len = val.As<v8::Array>()->Length();
+  }
+  if (capacity < len) {
+    len = capacity;
+  }
+  InitSequence(seq, len);
+  WriteNativeArray(val, seq->data, len);
+}
+
+template <typename SequenceT>
+inline void WriteNativeObjectSequence(
+    const v8::Local<v8::Value>& val, SequenceT* seq, size_t capacity,
+    const v8::Local<v8::Object>& typesupport_msg) {
+  if (!val->IsArray()) {
+    return;
+  }
+  auto array = val.As<v8::Array>();
+
+  auto len = array->Length();
+  if (capacity < len) {
+    len = capacity;
+  }
+
+  auto typesupport_func =
+      Nan::To<v8::Function>(
+          Nan::Get(typesupport_msg, Nan::New("_initSequence").ToLocalChecked())
+              .ToLocalChecked())
+          .ToLocalChecked();
+  v8::Local<v8::Value> argv[] = {Nan::New(len), Nan::New<v8::External>(seq)};
+  Nan::Call(typesupport_func, Nan::New<v8::Object>(), 2, argv).ToLocalChecked();
+
+  WriteNativeObjectArray(val, seq->data, len, typesupport_msg);
+}
+
 template <typename T>
 inline v8::Local<v8::Value> ToJsChecked(T val) {
   return Nan::New(val);
diff --git a/test/test-default-messages.js b/test/test-default-messages.js
index b7bf9430..ca38ba23 100644
--- a/test/test-default-messages.js
+++ b/test/test-default-messages.js
@@ -72,7 +72,7 @@ describe('rclnodejs message communication', function () {
     rclnodejs.spin(publisherNode);
   });
 
-  it.only('overwrites the default values when it is provided', function (done) {
+  it('overwrites the default values when it is provided', function (done) {
     const publisherNode = rclnodejs.createNode('defaults_message_publisher');
     const subscriptionNode = rclnodejs.createNode(
       'defaults_message_subscriber'

From cbed71858fc60b48a606d51a3885809af73bcb16 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Mon, 14 Dec 2020 14:48:15 +0800
Subject: [PATCH 34/64] remove exception, silently fill with "zero" or
 "default" value if incompatible type

---
 rosidl_gen/templates/cppDefinitions.dot | 56 +++++++----------
 src/type_conversion.hpp                 | 84 -------------------------
 2 files changed, 24 insertions(+), 116 deletions(-)

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index e35d4e29..5d552444 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -49,60 +49,52 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
 
 {{~ message.spec.fields : field}}
 {{? !it.isInternalField(field)}}
-  try {
-    [&](){
-      auto js_value = Nan::Get(js_obj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
+  [&](){
+    auto js_value = Nan::Get(js_obj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
 {{? field.default_value !== null}}
-      if (js_value->IsUndefined()) {
-        // default value is initialized when message is created.
-        return;
-      }
+    if (js_value->IsUndefined()) {
+      // default value is initialized when message is created.
+      return;
+    }
 {{?}}
       {{
-    const jsType = it.getJsType(field.type);
+const jsType = it.getJsType(field.type);
       }}
 {{? !field.type.isArray}}
 {{? field.type.isPrimitiveType}}
-      msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value);
+    msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value);
 {{??}}
-      auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-      auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("_writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-      v8::Local<v8::Value> argv[] = {
-        js_value,
-        Nan::New<v8::External>(&msg->{{=field.name}})
-      };
-      Nan::Call(typesupport_func, Nan::New<v8::Object>(), 2, argv).ToLocalChecked();
+    auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("_writeRosMessage").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    v8::Local<v8::Value> argv[] = {
+      js_value,
+      Nan::New<v8::External>(&msg->{{=field.name}})
+    };
+    Nan::Call(typesupport_func, Nan::New<v8::Object>(), 2, argv).ToLocalChecked();
 {{?}}
 {{??}}
 {{? field.type.isFixedSizeArray}}
 {{? field.type.isPrimitiveType}}
-      WriteNativeArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}});
+    WriteNativeArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}});
 {{??}}
-      auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-      WriteNativeObjectArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}}, typesupport_msg);
+    auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    WriteNativeObjectArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}}, typesupport_msg);
 {{?}}
 {{??}}
 {{? field.type.arraySize === null}}
-      size_t capacity = 0xffffffffffffffff;
+    size_t capacity = 0xffffffffffffffff;
 {{??}}
-      size_t capacity = {{=field.type.arraySize}};
+    size_t capacity = {{=field.type.arraySize}};
 {{?}}
 {{? field.type.isPrimitiveType}}
-      WriteNativeSequence<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, &msg->{{=field.name}}, capacity);
+    WriteNativeSequence<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, &msg->{{=field.name}}, capacity);
 {{??}}
-      auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-      WriteNativeObjectSequence<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, &msg->{{=field.name}}, capacity, typesupport_msg);
+    auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    WriteNativeObjectSequence<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, &msg->{{=field.name}}, capacity, typesupport_msg);
 {{?}}
 {{?}}
 {{?}}
-    }();
-  } catch (const TypeError& e) {
-    Nan::ThrowTypeError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
-    return;
-  } catch (const OutOfRangeError& e) {
-    Nan::ThrowRangeError(Nan::New(e.what_detailed("{{=field.name}}")).ToLocalChecked());
-    return;
-  }
+  }();
 {{?}}
 {{~}}
 }
diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index 2ae20620..1c21e672 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -19,47 +19,6 @@
 
 namespace rclnodejs {
 
-class TypeError : public std::exception {
- public:
-  explicit TypeError(const std::vector<std::string>& expected_types) {
-    std::ostringstream oss;
-    for (size_t i = 0; i < expected_types.size() - 1; ++i) {
-      oss << expected_types[i] << " or ";
-    }
-    oss << expected_types[expected_types.size() - 1];
-    _expected_types = oss.str();
-    _what = "expected " + _expected_types;
-  }
-
-  const char* what() const noexcept override { return _what.c_str(); }
-
-  std::string what_detailed(const std::string& field_name) const {
-    return "expected \"" + field_name + "\" to be " + _expected_types;
-  }
-
- private:
-  std::string _expected_types;
-  std::string _what;
-};
-
-class OutOfRangeError : public std::exception {
- public:
-  explicit OutOfRangeError(size_t len) : _len(len) {
-    _what = "expected array to have length " + len;
-  }
-
-  const char* what() const noexcept override { return _what.c_str(); }
-
-  std::string what_detailed(const std::string& field_name) const {
-    return "expected \"" + field_name + "\" to have length " +
-           std::to_string(_len);
-  }
-
- private:
-  std::string _what;
-  size_t _len;
-};
-
 std::u16string string_to_u16string(const std::string& input) {
   std::wstring_convert<std::codecvt_utf8_utf16<char16_t>, char16_t> converter;
   return converter.from_bytes(input);
@@ -145,49 +104,6 @@ inline rosidl_runtime_c__U16String ToNativeChecked<rosidl_runtime_c__U16String>(
   return ros_string;
 }
 
-template <typename TypedArrayT>
-struct TypedArrayName {};
-
-template <>
-struct TypedArrayName<v8::Int8Array> {
-  static constexpr const char* Name = "Int8Array";
-};
-
-template <>
-struct TypedArrayName<v8::Uint8Array> {
-  static constexpr const char* Name = "Uint8Array";
-};
-
-template <>
-struct TypedArrayName<v8::Int16Array> {
-  static constexpr const char* Name = "Int16Array";
-};
-
-template <>
-struct TypedArrayName<v8::Uint16Array> {
-  static constexpr const char* Name = "Uint16Array";
-};
-
-template <>
-struct TypedArrayName<v8::Int32Array> {
-  static constexpr const char* Name = "Int32Array";
-};
-
-template <>
-struct TypedArrayName<v8::Uint32Array> {
-  static constexpr const char* Name = "Uint32Array";
-};
-
-template <>
-struct TypedArrayName<v8::BigInt64Array> {
-  static constexpr const char* Name = "BigInt64Array";
-};
-
-template <>
-struct TypedArrayName<v8::BigUint64Array> {
-  static constexpr const char* Name = "BigUint64Array";
-};
-
 template <typename TypedArrayT>
 inline bool IsTypedArray(v8::Local<v8::Value> val);
 

From 51e3c51946d394bca154a2714aaa63312483af34 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 15 Dec 2020 16:42:31 +0800
Subject: [PATCH 35/64] support sequences

---
 rosidl_gen/templates/cppDefinitions.dot | 52 ++++++++------
 rosidl_gen/templates/messageRosidl.dot  | 14 ++--
 src/type_conversion.hpp                 | 95 +++++++++++++++++++++----
 test/test-array.js                      |  1 +
 test/test-fixed-arrays.js               | 70 ++++++++++++++----
 5 files changed, 176 insertions(+), 56 deletions(-)

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index 5d552444..69e5b446 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -42,9 +42,9 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
   if (info[2]->IsExternal()) {
     msg = reinterpret_cast<{{=message.structType}}*>(info[2].As<v8::External>()->Value());
   } else {
-    auto* buffer = node::Buffer::Data(info[2]);
-    auto offset = Nan::To<uint32_t>(info[3]).ToChecked();
-    msg = reinterpret_cast<{{=message.structType}}*>(buffer + offset);
+    auto* data = node::Buffer::Data(info[2]);
+    auto offset = info[2].As<v8::Uint8Array>()->ByteOffset();
+    msg = reinterpret_cast<{{=message.structType}}*>(data + offset);
   }
 
 {{~ message.spec.fields : field}}
@@ -75,10 +75,10 @@ const jsType = it.getJsType(field.type);
 {{??}}
 {{? field.type.isFixedSizeArray}}
 {{? field.type.isPrimitiveType}}
-    WriteNativeArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}});
+    WriteNativeArray<std::decay_t<decltype(*msg->{{=field.name}})>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}});
 {{??}}
     auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-    WriteNativeObjectArray<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}}, typesupport_msg);
+    WriteNativeObjectArray<std::decay_t<decltype(*msg->{{=field.name}})>>(js_value, msg->{{=field.name}}, {{=field.type.arraySize}}, typesupport_msg);
 {{?}}
 {{??}}
 {{? field.type.arraySize === null}}
@@ -87,10 +87,10 @@ const jsType = it.getJsType(field.type);
     size_t capacity = {{=field.type.arraySize}};
 {{?}}
 {{? field.type.isPrimitiveType}}
-    WriteNativeSequence<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, &msg->{{=field.name}}, capacity);
+    WriteNativeSequence<std::decay_t<decltype(msg->{{=field.name}})>>(js_value, &msg->{{=field.name}}, capacity);
 {{??}}
     auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-    WriteNativeObjectSequence<std::remove_pointer_t<std::decay_t<decltype(msg->{{=field.name}})>>>(js_value, &msg->{{=field.name}}, capacity, typesupport_msg);
+    WriteNativeObjectSequence<std::decay_t<decltype(msg->{{=field.name}})>>(js_value, &msg->{{=field.name}}, capacity, typesupport_msg);
 {{?}}
 {{?}}
 {{?}}
@@ -100,43 +100,51 @@ const jsType = it.getJsType(field.type);
 }
 
 NAN_METHOD(rclnodejs__{{=message.structType}}::ToJsObject) {
-  auto* buffer = node::Buffer::Data(info[0]);
-  uint32_t offset = Nan::To<uint32_t>(info[1]).ToChecked();
-  auto* msg = reinterpret_cast<{{=message.structType}}*>(buffer + offset);
-  auto typesupport = Nan::To<v8::Object>(info[2]).ToLocalChecked();
+  auto typesupport = Nan::To<v8::Object>(info[0]).ToLocalChecked();
+  auto buffer = info[1].As<v8::Uint8Array>()->Buffer();
+  auto* data = reinterpret_cast<char*>(buffer->GetContents().Data());
+  auto offset = info[1].As<v8::Uint8Array>()->ByteOffset();
+  auto* msg = reinterpret_cast<{{=message.structType}}*>(data + offset);
 
   auto js_obj = Nan::New<v8::Object>();
 {{~ message.spec.fields : field}}
 {{? !it.isInternalField(field)}}
+  {
 {{? !field.type.isArray}}
 {{? field.type.isPrimitiveType}}
-  Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsChecked(msg->{{=field.name}}));
+    Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsChecked(msg->{{=field.name}}));
 {{??}}
-  {
+    auto child_buffer = v8::Uint8Array::New(buffer, reinterpret_cast<char*>(&msg->{{=field.name}}) - data, sizeof(msg->{{=field.name}}));
     auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
     auto typesupport_func = Nan::To<v8::Function>(Nan::Get(typesupport_msg, Nan::New("_toJsObject").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
     v8::Local<v8::Value> argv[] = {
-      info[0],
-      Nan::New(static_cast<uint32_t>(reinterpret_cast<char*>(&msg->{{=field.name}}) - buffer))
+      std::move(child_buffer)
     };
-    auto {{=field.name}}_js_obj = Nan::Call(typesupport_func, Nan::New<v8::Object>(), 2, argv).ToLocalChecked();
+    auto {{=field.name}}_js_obj = Nan::Call(typesupport_func, Nan::New<v8::Object>(), 1, argv).ToLocalChecked();
     Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), {{=field.name}}_js_obj);
-  }
 {{?}}
 {{??}}
 {{? field.type.isFixedSizeArray}}
+    size_t field_offset = reinterpret_cast<char*>(msg->{{=field.name}}) - data;
 {{? field.type.isPrimitiveType}}
-  Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsArrayChecked(msg->{{=field.name}}, {{=field.type.arraySize}}));
+    auto js_array = ToJsArrayChecked<std::decay_t<decltype(*msg->{{=field.name}})>>(buffer, field_offset, {{=field.type.arraySize}});
+    Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), std::move(js_array));
 {{??}}
-  {
     auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
-    Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsObjectArrayChecked(msg->{{=field.name}}, {{=field.type.arraySize}}, info[0], offset, typesupport_msg));
-  }
+    Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsObjectArrayChecked<std::decay_t<decltype(*msg->{{=field.name}})>>(buffer, field_offset, {{=field.type.arraySize}}, typesupport_msg));
 {{?}}
 {{??}}
-    // TODO: handle sequences
+    auto sequence_buffer = Nan::NewBuffer(reinterpret_cast<char*>(msg->{{=field.name}}.data), msg->{{=field.name}}.size * sizeof(decltype(*msg->{{=field.name}}.data)), [](char*, void*) {}, nullptr).ToLocalChecked().As<v8::Uint8Array>();
+    Nan::Set(sequence_buffer, Nan::New("_rclnodejs_owner").ToLocalChecked(), info[1]).ToChecked();
+{{? field.type.isPrimitiveType}}
+    Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsArrayChecked<std::decay_t<decltype(*msg->{{=field.name}}.data)>>(sequence_buffer->Buffer(), 0, msg->{{=field.name}}.size));
+{{??}}
+    auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
+    Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsObjectArrayChecked<std::decay_t<decltype(*msg->{{=field.name}}.data)>>(sequence_buffer->Buffer(), 0, msg->{{=field.name}}.size, typesupport_msg));
 {{?}}
 {{?}}
+{{?}}
+  }
 {{?}}
 {{~}}
   info.GetReturnValue().Set(js_obj);
diff --git a/rosidl_gen/templates/messageRosidl.dot b/rosidl_gen/templates/messageRosidl.dot
index 08c0f638..9c733ea4 100644
--- a/rosidl_gen/templates/messageRosidl.dot
+++ b/rosidl_gen/templates/messageRosidl.dot
@@ -245,22 +245,22 @@ class {{=objectWrapper}} {
     return typesupport.createRosMessage();
   }
 
-  static _toJsObject(buffer, offset = 0) {
-    return typesupport.toJsObject(buffer, offset, typesupportDeps);
+  static _toJsObject(rawRos) {
+    return typesupport.toJsObject(typesupportDeps, rawRos);
   }
 
   static _toRosMessage(obj) {
     const rosMessage = {{=objectWrapper}}._createRosMessage();
-    {{=objectWrapper}}._writeRosMessage(obj, rosMessage, 0);
+    {{=objectWrapper}}._writeRosMessage(obj, rosMessage);
     return rosMessage;
   }
 
-  static _writeRosMessage(obj, buffer, offset) {
-    typesupport.writeRosMessage(typesupportDeps, obj, buffer, offset);
+  static _writeRosMessage(obj, rawRos) {
+    typesupport.writeRosMessage(typesupportDeps, obj, rawRos);
   }
 
-  static _initSequence(size, msg) {
-    typesupport.initSequence(size, msg);
+  static _initSequence(size, rawRos) {
+    typesupport.initSequence(size, rawRos);
   }
 
   toRawROS() {
diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index 1c21e672..2884dbbc 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -452,35 +452,104 @@ inline v8::Local<v8::Value> ToJsChecked<rosidl_runtime_c__U16String>(
       .ToLocalChecked();
 }
 
+inline uint32_t JsArrayMaxLength() {
+  return std::numeric_limits<uint32_t>::max();
+}
+
 template <typename T>
-inline v8::Local<v8::Value> ToJsArrayChecked(T* arr, size_t len) {
+inline v8::Local<v8::Value> ToJsArrayChecked(
+    const v8::Local<v8::ArrayBuffer>& buffer, size_t offset, size_t len) {
   auto js_array = Nan::New<v8::Array>();
-  for (size_t i = 0; i < len; i++) {
+  auto* data = reinterpret_cast<char*>(buffer->GetContents().Data());
+  auto* arr = reinterpret_cast<T*>(data + offset);
+  uint32_t js_len = len > JsArrayMaxLength() ? JsArrayMaxLength() : len;
+  for (uint32_t i = 0; i < js_len; i++) {
     Nan::Set(js_array, i, ToJsChecked(arr[i]));
   }
   return js_array;
 }
 
+template <typename TypedArrayT>
+inline v8::Local<v8::TypedArray> _ToJsTypedArray(
+    const v8::Local<v8::ArrayBuffer>& buffer, size_t offset, size_t len) {
+  return TypedArrayT::New(buffer, offset, len);
+}
+
+template <>
+inline v8::Local<v8::Value> ToJsArrayChecked<int8_t>(
+    const v8::Local<v8::ArrayBuffer>& buffer, size_t offset, size_t len) {
+  return _ToJsTypedArray<v8::Int8Array>(buffer, offset, len);
+}
+
+template <>
+inline v8::Local<v8::Value> ToJsArrayChecked<uint8_t>(
+    const v8::Local<v8::ArrayBuffer>& buffer, size_t offset, size_t len) {
+  return _ToJsTypedArray<v8::Uint8Array>(buffer, offset, len);
+}
+
+template <>
+inline v8::Local<v8::Value> ToJsArrayChecked<int16_t>(
+    const v8::Local<v8::ArrayBuffer>& buffer, size_t offset, size_t len) {
+  return _ToJsTypedArray<v8::Int16Array>(buffer, offset, len);
+}
+
+template <>
+inline v8::Local<v8::Value> ToJsArrayChecked<uint16_t>(
+    const v8::Local<v8::ArrayBuffer>& buffer, size_t offset, size_t len) {
+  return _ToJsTypedArray<v8::Uint16Array>(buffer, offset, len);
+}
+
+template <>
+inline v8::Local<v8::Value> ToJsArrayChecked<int32_t>(
+    const v8::Local<v8::ArrayBuffer>& buffer, size_t offset, size_t len) {
+  return _ToJsTypedArray<v8::Int32Array>(buffer, offset, len);
+}
+
+template <>
+inline v8::Local<v8::Value> ToJsArrayChecked<uint32_t>(
+    const v8::Local<v8::ArrayBuffer>& buffer, size_t offset, size_t len) {
+  return _ToJsTypedArray<v8::Uint32Array>(buffer, offset, len);
+}
+
+template <>
+inline v8::Local<v8::Value> ToJsArrayChecked<int64_t>(
+    const v8::Local<v8::ArrayBuffer>& buffer, size_t offset, size_t len) {
+  return _ToJsTypedArray<v8::BigInt64Array>(buffer, offset, len);
+}
+
+template <>
+inline v8::Local<v8::Value> ToJsArrayChecked<uint64_t>(
+    const v8::Local<v8::ArrayBuffer>& buffer, size_t offset, size_t len) {
+  return _ToJsTypedArray<v8::BigUint64Array>(buffer, offset, len);
+}
+
+template <>
+inline v8::Local<v8::Value> ToJsArrayChecked<float>(
+    const v8::Local<v8::ArrayBuffer>& buffer, size_t offset, size_t len) {
+  return _ToJsTypedArray<v8::Float32Array>(buffer, offset, len);
+}
+
+template <>
+inline v8::Local<v8::Value> ToJsArrayChecked<double>(
+    const v8::Local<v8::ArrayBuffer>& buffer, size_t offset, size_t len) {
+  return _ToJsTypedArray<v8::Float64Array>(buffer, offset, len);
+}
+
 template <typename T>
 inline v8::Local<v8::Value> ToJsObjectArrayChecked(
-    T* arr, size_t len, const v8::Local<v8::Value>& node_buffer, size_t offset,
+    const v8::Local<v8::ArrayBuffer>& buffer, size_t offset, size_t len,
     const v8::Local<v8::Object>& typesupport_msg) {
   auto js_array = Nan::New<v8::Array>();
-
-  auto msg_base = node::Buffer::Data(node_buffer) + offset;
-  v8::Local<v8::Value> argv[] = {Nan::Undefined(), node_buffer,
-                                 Nan::Undefined()};
+  uint32_t js_len = len > JsArrayMaxLength() ? JsArrayMaxLength() : len;
   auto typesupport_func =
       Nan::To<v8::Function>(
           Nan::Get(typesupport_msg, Nan::New("_toJsObject").ToLocalChecked())
               .ToLocalChecked())
           .ToLocalChecked();
-
-  for (size_t i = 0; i < len; i++) {
-    argv[0] = node_buffer;
-    argv[1] = Nan::New(
-        static_cast<uint32_t>(reinterpret_cast<char*>(&arr[i]) - msg_base));
-    auto js_obj = Nan::Call(typesupport_func, Nan::New<v8::Object>(), 2, argv)
+  v8::Local<v8::Value> argv[1];
+  for (uint32_t i = 0; i < js_len; ++i) {
+    argv[0] = v8::Uint8Array::New(buffer, offset, len * sizeof(T));
+    auto js_obj = Nan::Call(typesupport_func, Nan::New<v8::Object>(), 1, argv)
                       .ToLocalChecked();
     Nan::Set(js_array, i, js_obj);
   }
diff --git a/test/test-array.js b/test/test-array.js
index 65214e56..9f80d427 100644
--- a/test/test-array.js
+++ b/test/test-array.js
@@ -38,6 +38,7 @@ describe('rclnodejs message communication', function () {
       JointState,
       'JointState',
       (state) => {
+        console.log(state.position);
         assert.deepStrictEqual(state.header.stamp.sec, 123456);
         assert.deepStrictEqual(state.header.stamp.nanosec, 789);
         assert.deepStrictEqual(state.header.frame_id, 'main frame');
diff --git a/test/test-fixed-arrays.js b/test/test-fixed-arrays.js
index f8cd1dc1..88829ca5 100644
--- a/test/test-fixed-arrays.js
+++ b/test/test-fixed-arrays.js
@@ -60,20 +60,62 @@ describe('rclnodejs message communication', function () {
       'fixed_arrays_channel1',
       (msg) => {
         timer.cancel();
-        assert.deepStrictEqual(msg.bool_values, originalMsg.bool_values);
-        assert.deepStrictEqual(msg.byte_values, originalMsg.byte_values);
-        assert.deepStrictEqual(msg.char_values, originalMsg.char_values);
-        assert.deepStrictEqual(msg.float32_values, originalMsg.float32_values);
-        assert.deepStrictEqual(msg.float64_values, originalMsg.float64_values);
-        assert.deepStrictEqual(msg.int8_values, originalMsg.int8_values);
-        assert.deepStrictEqual(msg.uint8_values, originalMsg.uint8_values);
-        assert.deepStrictEqual(msg.int16_values, originalMsg.int16_values);
-        assert.deepStrictEqual(msg.uint16_values, originalMsg.uint16_values);
-        assert.deepStrictEqual(msg.int32_values, originalMsg.int32_values);
-        assert.deepStrictEqual(msg.uint32_values, originalMsg.uint32_values);
-        assert.deepStrictEqual(msg.int64_values, originalMsg.int64_values);
-        assert.deepStrictEqual(msg.uint64_values, originalMsg.uint64_values);
-        assert.deepStrictEqual(msg.string_values, originalMsg.string_values);
+        assert.deepStrictEqual(
+          Array.from(msg.bool_values),
+          originalMsg.bool_values
+        );
+        assert.deepStrictEqual(
+          Array.from(msg.byte_values),
+          originalMsg.byte_values
+        );
+        assert.deepStrictEqual(
+          Array.from(msg.char_values),
+          originalMsg.char_values
+        );
+        assert.deepStrictEqual(
+          Array.from(msg.float32_values),
+          originalMsg.float32_values
+        );
+        assert.deepStrictEqual(
+          Array.from(msg.float64_values),
+          originalMsg.float64_values
+        );
+        assert.deepStrictEqual(
+          Array.from(msg.int8_values),
+          originalMsg.int8_values
+        );
+        assert.deepStrictEqual(
+          Array.from(msg.uint8_values),
+          originalMsg.uint8_values
+        );
+        assert.deepStrictEqual(
+          Array.from(msg.int16_values),
+          originalMsg.int16_values
+        );
+        assert.deepStrictEqual(
+          Array.from(msg.uint16_values),
+          originalMsg.uint16_values
+        );
+        assert.deepStrictEqual(
+          Array.from(msg.int32_values),
+          originalMsg.int32_values
+        );
+        assert.deepStrictEqual(
+          Array.from(msg.uint32_values),
+          originalMsg.uint32_values
+        );
+        assert.deepStrictEqual(
+          Array.from(msg.int64_values).map((i) => Number(i)),
+          originalMsg.int64_values
+        );
+        assert.deepStrictEqual(
+          Array.from(msg.int64_values).map((i) => Number(i)),
+          originalMsg.uint64_values
+        );
+        assert.deepStrictEqual(
+          Array.from(msg.string_values),
+          originalMsg.string_values
+        );
         assert.strictEqual(msg.alignment_check, 0);
         assert.strictEqual(msg.defaults_values[0].bool_value, true);
         assert.strictEqual(msg.defaults_values[1].bool_value, true);

From dbdd0f0cb831efd5c503ecc4a0a54b36aaf9c6b4 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 15 Dec 2020 17:14:59 +0800
Subject: [PATCH 36/64] fix tests

---
 rosidl_gen/templates/cppDefinitions.dot |  8 +++-----
 rosidl_gen/templates/messageRosidl.dot  |  4 ----
 test/client_setup.js                    |  2 +-
 test/publisher_setup.js                 |  2 +-
 test/test-array.js                      |  1 -
 test/test-interactive.js                | 26 ++++++++++++-------------
 6 files changed, 17 insertions(+), 26 deletions(-)

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index 69e5b446..67844025 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -51,15 +51,13 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::WriteRosMessage) {
 {{? !it.isInternalField(field)}}
   [&](){
     auto js_value = Nan::Get(js_obj, Nan::New("{{=field.name}}").ToLocalChecked()).ToLocalChecked();
-{{? field.default_value !== null}}
-    if (js_value->IsUndefined()) {
+    if (js_value->IsNullOrUndefined()) {
       // default value is initialized when message is created.
       return;
     }
-{{?}}
-      {{
+{{
 const jsType = it.getJsType(field.type);
-      }}
+}}
 {{? !field.type.isArray}}
 {{? field.type.isPrimitiveType}}
     msg->{{=field.name}} = ToNativeChecked<decltype(msg->{{=field.name}})>(js_value);
diff --git a/rosidl_gen/templates/messageRosidl.dot b/rosidl_gen/templates/messageRosidl.dot
index 9c733ea4..39b71e16 100644
--- a/rosidl_gen/templates/messageRosidl.dot
+++ b/rosidl_gen/templates/messageRosidl.dot
@@ -269,10 +269,6 @@ class {{=objectWrapper}} {
   }
 
   freeze(own = false, checkConsistency = false) {
-    if (Object.getOwnPropertyNames(this._proxyObj).length === 0) {
-      this._rawRos = {{=objectWrapper}}._createRosMessage();
-      return;
-    }
     this._rawRos = {{=objectWrapper}}._toRosMessage(this._proxyObj);
   }
 
diff --git a/test/client_setup.js b/test/client_setup.js
index 5319efd8..8618bd43 100644
--- a/test/client_setup.js
+++ b/test/client_setup.js
@@ -30,7 +30,7 @@ rclnodejs
     var publisher = node.createPublisher(Int8, 'back_add_two_ints');
     client.waitForService().then(() => {
       client.sendRequest(request, (response) => {
-        publisher.publish(response.sum);
+        publisher.publish({ data: response.sum });
       });
     });
 
diff --git a/test/publisher_setup.js b/test/publisher_setup.js
index b8939245..0ed92460 100644
--- a/test/publisher_setup.js
+++ b/test/publisher_setup.js
@@ -26,7 +26,7 @@ rclnodejs
 
     var publisher = node.createPublisher(RclString, 'topic');
     var timer = node.createTimer(100, () => {
-      publisher.publish(msg);
+      publisher.publish({ data: msg });
     });
     rclnodejs.spin(node);
 
diff --git a/test/test-array.js b/test/test-array.js
index 9f80d427..65214e56 100644
--- a/test/test-array.js
+++ b/test/test-array.js
@@ -38,7 +38,6 @@ describe('rclnodejs message communication', function () {
       JointState,
       'JointState',
       (state) => {
-        console.log(state.position);
         assert.deepStrictEqual(state.header.stamp.sec, 123456);
         assert.deepStrictEqual(state.header.stamp.nanosec, 789);
         assert.deepStrictEqual(state.header.frame_id, 'main frame');
diff --git a/test/test-interactive.js b/test/test-interactive.js
index 6a8631b8..4bd91411 100644
--- a/test/test-interactive.js
+++ b/test/test-interactive.js
@@ -35,22 +35,20 @@ describe('rclnodejs interactive testing', function () {
       const RclString = 'std_msgs/msg/String';
       var publisher = childProcess.fork(`${__dirname}/publisher_setup.js`);
       var destroy = false;
-      var subscription = node.createSubscription(
-        RclString,
-        'topic',
-        function (msg) {
-          assert.deepStrictEqual(typeof msg, 'object');
-          assert.ok('data' in msg);
-          assert.deepStrictEqual(msg.data, 'Greeting from publisher');
+      var subscription = node.createSubscription(RclString, 'topic', function (
+        msg
+      ) {
+        assert.deepStrictEqual(typeof msg, 'object');
+        assert.ok('data' in msg);
+        assert.deepStrictEqual(msg.data, 'Greeting from publisher');
 
-          if (!destroy) {
-            publisher.kill('SIGINT');
-            node.destroy();
-            destroy = true;
-            done();
-          }
+        if (!destroy) {
+          publisher.kill('SIGINT');
+          node.destroy();
+          destroy = true;
+          done();
         }
-      );
+      });
       rclnodejs.spin(node);
     });
   });

From b3ec04d879ee02a25321be9f60bceee96432ee00 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 15 Dec 2020 18:19:27 +0800
Subject: [PATCH 37/64] support float typed array

---
 rosidl_gen/templates/cppDefinitions.dot |  2 +-
 src/type_conversion.hpp                 | 52 ++++++++++++++-----------
 2 files changed, 30 insertions(+), 24 deletions(-)

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index 67844025..4878a944 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -85,7 +85,7 @@ const jsType = it.getJsType(field.type);
     size_t capacity = {{=field.type.arraySize}};
 {{?}}
 {{? field.type.isPrimitiveType}}
-    WriteNativeSequence<std::decay_t<decltype(msg->{{=field.name}})>>(js_value, &msg->{{=field.name}}, capacity);
+    WriteNativeSequence<decltype(msg->{{=field.name}})>(js_value, &msg->{{=field.name}}, capacity);
 {{??}}
     auto typesupport_msg = Nan::To<v8::Object>(Nan::Get(typesupport, Nan::New("{{=field.type.pkgName}}/{{=field.type.type}}").ToLocalChecked()).ToLocalChecked()).ToLocalChecked();
     WriteNativeObjectSequence<std::decay_t<decltype(msg->{{=field.name}})>>(js_value, &msg->{{=field.name}}, capacity, typesupport_msg);
diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index 2884dbbc..0e298a7b 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -147,9 +147,19 @@ inline bool IsTypedArray<v8::BigUint64Array>(v8::Local<v8::Value> val) {
   return val->IsBigUint64Array();
 }
 
+template <>
+inline bool IsTypedArray<v8::Float32Array>(v8::Local<v8::Value> val) {
+  return val->IsFloat32Array();
+}
+
+template <>
+inline bool IsTypedArray<v8::Float64Array>(v8::Local<v8::Value> val) {
+  return val->IsFloat64Array();
+}
+
 template <typename TypedArrayT, typename NativeT>
-inline void WriteNativeArrayImpl(v8::Local<v8::Value> val, NativeT* arr,
-                                 size_t len) {
+inline void _WriteNativeArrayImpl(v8::Local<v8::Value> val, NativeT* arr,
+                                  size_t len) {
   if (!IsTypedArray<TypedArrayT>(val)) {
     if (!val->IsArray()) {
       return;
@@ -190,65 +200,61 @@ inline void WriteNativeArray(v8::Local<v8::Value> val, T* arr, size_t len) {
 template <>
 inline void WriteNativeArray<int8_t>(v8::Local<v8::Value> val, int8_t* arr,
                                      size_t len) {
-  WriteNativeArrayImpl<v8::Int8Array, int8_t>(val, arr, len);
+  _WriteNativeArrayImpl<v8::Int8Array, int8_t>(val, arr, len);
 }
 
 template <>
 inline void WriteNativeArray<uint8_t>(v8::Local<v8::Value> val, uint8_t* arr,
                                       size_t len) {
-  WriteNativeArrayImpl<v8::Uint8Array, uint8_t>(val, arr, len);
+  _WriteNativeArrayImpl<v8::Uint8Array, uint8_t>(val, arr, len);
 }
 
 template <>
 inline void WriteNativeArray<int16_t>(v8::Local<v8::Value> val, int16_t* arr,
                                       size_t len) {
-  WriteNativeArrayImpl<v8::Int16Array, int16_t>(val, arr, len);
+  _WriteNativeArrayImpl<v8::Int16Array, int16_t>(val, arr, len);
 }
 
 template <>
 inline void WriteNativeArray<uint16_t>(v8::Local<v8::Value> val, uint16_t* arr,
                                        size_t len) {
-  WriteNativeArrayImpl<v8::Uint16Array, uint16_t>(val, arr, len);
+  _WriteNativeArrayImpl<v8::Uint16Array, uint16_t>(val, arr, len);
 }
 
 template <>
 inline void WriteNativeArray<int32_t>(v8::Local<v8::Value> val, int32_t* arr,
                                       size_t len) {
-  WriteNativeArrayImpl<v8::Int32Array, int32_t>(val, arr, len);
+  _WriteNativeArrayImpl<v8::Int32Array, int32_t>(val, arr, len);
 }
 
 template <>
 inline void WriteNativeArray<uint32_t>(v8::Local<v8::Value> val, uint32_t* arr,
                                        size_t len) {
-  WriteNativeArrayImpl<v8::Uint32Array, uint32_t>(val, arr, len);
+  _WriteNativeArrayImpl<v8::Uint32Array, uint32_t>(val, arr, len);
 }
 
 template <>
 inline void WriteNativeArray<int64_t>(v8::Local<v8::Value> val, int64_t* arr,
                                       size_t len) {
-  WriteNativeArrayImpl<v8::BigInt64Array, int64_t>(val, arr, len);
+  _WriteNativeArrayImpl<v8::BigInt64Array, int64_t>(val, arr, len);
 }
 
 template <>
 inline void WriteNativeArray<uint64_t>(v8::Local<v8::Value> val, uint64_t* arr,
                                        size_t len) {
-  WriteNativeArrayImpl<v8::BigUint64Array, uint64_t>(val, arr, len);
+  _WriteNativeArrayImpl<v8::BigUint64Array, uint64_t>(val, arr, len);
 }
 
 template <>
-inline void WriteNativeArray<bool>(v8::Local<v8::Value> val, bool* arr,
-                                   size_t len) {
-  if (!val->IsArray()) {
-    return;
-  }
-  auto array = val.As<v8::Array>();
-  if (array->Length() < len) {
-    len = array->Length();
-  }
-  for (size_t i = 0; i < len; ++i) {
-    auto item = Nan::Get(array, i).ToLocalChecked();
-    arr[i] = Nan::To<bool>(std::move(item)).ToChecked();
-  }
+inline void WriteNativeArray<float>(v8::Local<v8::Value> val, float* arr,
+                                    size_t len) {
+  _WriteNativeArrayImpl<v8::Float32Array, float>(val, arr, len);
+}
+
+template <>
+inline void WriteNativeArray<double>(v8::Local<v8::Value> val, double* arr,
+                                     size_t len) {
+  _WriteNativeArrayImpl<v8::Float64Array, double>(val, arr, len);
 }
 
 template <typename T>

From 5343b772798ae6e2c82df6dc1caa66e8b7c95498 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Wed, 16 Dec 2020 10:17:12 +0800
Subject: [PATCH 38/64] fix tests

---
 src/type_conversion.hpp        |  65 ++-------------------
 test/test-bounded-sequences.js | 104 ++++++++++++++++++++++++++++++++-
 2 files changed, 108 insertions(+), 61 deletions(-)

diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index 0e298a7b..a06c5b69 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -104,63 +104,10 @@ inline rosidl_runtime_c__U16String ToNativeChecked<rosidl_runtime_c__U16String>(
   return ros_string;
 }
 
-template <typename TypedArrayT>
-inline bool IsTypedArray(v8::Local<v8::Value> val);
-
-template <>
-inline bool IsTypedArray<v8::Int8Array>(v8::Local<v8::Value> val) {
-  return val->IsInt8Array();
-}
-
-template <>
-inline bool IsTypedArray<v8::Uint8Array>(v8::Local<v8::Value> val) {
-  return val->IsUint8Array();
-}
-
-template <>
-inline bool IsTypedArray<v8::Int16Array>(v8::Local<v8::Value> val) {
-  return val->IsInt16Array();
-}
-
-template <>
-inline bool IsTypedArray<v8::Uint16Array>(v8::Local<v8::Value> val) {
-  return val->IsUint16Array();
-}
-
-template <>
-inline bool IsTypedArray<v8::Int32Array>(v8::Local<v8::Value> val) {
-  return val->IsInt32Array();
-}
-
-template <>
-inline bool IsTypedArray<v8::Uint32Array>(v8::Local<v8::Value> val) {
-  return val->IsUint32Array();
-}
-
-template <>
-inline bool IsTypedArray<v8::BigInt64Array>(v8::Local<v8::Value> val) {
-  return val->IsBigInt64Array();
-}
-
-template <>
-inline bool IsTypedArray<v8::BigUint64Array>(v8::Local<v8::Value> val) {
-  return val->IsBigUint64Array();
-}
-
-template <>
-inline bool IsTypedArray<v8::Float32Array>(v8::Local<v8::Value> val) {
-  return val->IsFloat32Array();
-}
-
-template <>
-inline bool IsTypedArray<v8::Float64Array>(v8::Local<v8::Value> val) {
-  return val->IsFloat64Array();
-}
-
 template <typename TypedArrayT, typename NativeT>
 inline void _WriteNativeArrayImpl(v8::Local<v8::Value> val, NativeT* arr,
                                   size_t len) {
-  if (!IsTypedArray<TypedArrayT>(val)) {
+  if (!val->IsTypedArray()) {
     if (!val->IsArray()) {
       return;
     }
@@ -174,11 +121,11 @@ inline void _WriteNativeArrayImpl(v8::Local<v8::Value> val, NativeT* arr,
       arr[i] = native;
     }
   } else {
-    auto typed_array = val.As<TypedArrayT>();
-    if (typed_array->Length() < len) {
-      len = typed_array->Length();
-    }
-    typed_array->CopyContents(arr, len * sizeof(NativeT));
+    auto typed_array = val.As<v8::TypedArray>();
+    size_t copy_len = typed_array->ByteLength() < len * sizeof(NativeT)
+                          ? typed_array->ByteLength()
+                          : len * sizeof(NativeT);
+    typed_array->CopyContents(arr, copy_len);
   }
 }
 
diff --git a/test/test-bounded-sequences.js b/test/test-bounded-sequences.js
index 3bb655ff..88afada2 100644
--- a/test/test-bounded-sequences.js
+++ b/test/test-bounded-sequences.js
@@ -63,7 +63,7 @@ describe('Test bounded sequeces', function () {
   const expected = {
     bool_values: [true, false],
     byte_values: Uint8Array.from([127, 125]),
-    char_values: Int8Array.from([127, 125]),
+    char_values: Int8Array.from([127, 125]), // char[] is uint8_t[] in ROS, the old serialization mistakenly deserialized it as Int8Array
     float32_values: Float32Array.from([1.1, 2.2, 3.3]),
     float64_values: Float64Array.from([1.1, 2.2]),
     int8_values: Int8Array.from([1, 2]),
@@ -120,7 +120,107 @@ describe('Test bounded sequeces', function () {
       'bounded_sequences',
       (response) => {
         clearInterval(timer);
-        assert.deepEqual(response, expected);
+        assert.deepStrictEqual(response.bool_values, expected.bool_values);
+        assert.deepStrictEqual(response.byte_values, expected.byte_values);
+        assert.deepStrictEqual(
+          Array.from(response.char_values),
+          Array.from(expected.char_values)
+        );
+        assert.deepStrictEqual(
+          response.float32_values,
+          expected.float32_values
+        );
+        assert.deepStrictEqual(
+          response.float64_values,
+          expected.float64_values
+        );
+        assert.deepStrictEqual(response.int8_values, expected.int8_values);
+        assert.deepStrictEqual(response.uint8_values, expected.uint8_values);
+        assert.deepStrictEqual(response.int16_values, expected.int16_values);
+        assert.deepStrictEqual(response.uint16_values, expected.uint16_values);
+        assert.deepStrictEqual(response.int32_values, expected.int32_values);
+        assert.deepStrictEqual(response.uint32_values, expected.uint32_values);
+        assert.deepStrictEqual(
+          Array.from(response.int64_values).map((i) => Number(i)),
+          expected.int64_values
+        );
+        assert.deepStrictEqual(
+          Array.from(response.uint64_values).map((i) => Number(i)),
+          expected.uint64_values
+        );
+        assert.deepStrictEqual(
+          Array.from(response.int64_values_default).map((i) => Number(i)),
+          expected.int64_values_default
+        );
+        assert.deepStrictEqual(
+          Array.from(response.uint64_values_default).map((i) => Number(i)),
+          expected.uint64_values_default
+        );
+        assert.deepStrictEqual(response.string_values, expected.string_values);
+        assert.deepStrictEqual(
+          response.basic_types_values,
+          expected.basic_types_values
+        );
+        assert.deepStrictEqual(
+          response.bool_values_default,
+          expected.bool_values_default
+        );
+        assert.deepStrictEqual(
+          response.byte_values_default,
+          expected.byte_values_default
+        );
+        assert.deepStrictEqual(
+          Array.from(response.char_values_default),
+          Array.from(expected.char_values_default)
+        );
+        assert.deepStrictEqual(
+          response.float32_values_default,
+          expected.float32_values_default
+        );
+        assert.deepStrictEqual(
+          response.float64_values_default,
+          expected.float64_values_default
+        );
+        assert.deepStrictEqual(
+          response.int16_values_default,
+          expected.int16_values_default
+        );
+        assert.deepStrictEqual(
+          response.int32_values_default,
+          expected.int32_values_default
+        );
+        assert.deepStrictEqual(
+          response.int8_values_default,
+          expected.int8_values_default
+        );
+        assert.deepStrictEqual(
+          response.string_values_default,
+          expected.string_values_default
+        );
+        assert.deepStrictEqual(
+          response.uint16_values_default,
+          expected.uint16_values_default
+        );
+        assert.deepStrictEqual(
+          response.uint32_values_default,
+          expected.uint32_values_default
+        );
+        assert.deepStrictEqual(
+          response.uint8_values_default,
+          expected.uint8_values_default
+        );
+        assert.deepStrictEqual(
+          response.alignment_check,
+          expected.alignment_check
+        );
+        assert.deepStrictEqual(
+          response.constants_values,
+          expected.constants_values
+        );
+        assert.deepStrictEqual(
+          response.defaults_values,
+          expected.defaults_values
+        );
         node.destroy();
         done();
       }

From 9eb5b5f852109ffd84f7929717c1614df45fa7c8 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Wed, 16 Dec 2020 11:00:13 +0800
Subject: [PATCH 39/64] fix tests

---
 rosidl_gen/templates/cppDefinitions.dot | 2 +-
 rosidl_gen/templates/messageRosidl.dot  | 3 ++-
 src/type_conversion.hpp                 | 3 ++-
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/rosidl_gen/templates/cppDefinitions.dot b/rosidl_gen/templates/cppDefinitions.dot
index 4878a944..46524c63 100644
--- a/rosidl_gen/templates/cppDefinitions.dot
+++ b/rosidl_gen/templates/cppDefinitions.dot
@@ -133,7 +133,7 @@ NAN_METHOD(rclnodejs__{{=message.structType}}::ToJsObject) {
 {{?}}
 {{??}}
     auto sequence_buffer = Nan::NewBuffer(reinterpret_cast<char*>(msg->{{=field.name}}.data), msg->{{=field.name}}.size * sizeof(decltype(*msg->{{=field.name}}.data)), [](char*, void*) {}, nullptr).ToLocalChecked().As<v8::Uint8Array>();
-    Nan::Set(sequence_buffer, Nan::New("_rclnodejs_owner").ToLocalChecked(), info[1]).ToChecked();
+    Nan::Set(sequence_buffer->Buffer(), Nan::New("_rclnodejs_owner").ToLocalChecked(), info[1]).ToChecked();
 {{? field.type.isPrimitiveType}}
     Nan::Set(js_obj, Nan::New("{{=field.name}}").ToLocalChecked(), ToJsArrayChecked<std::decay_t<decltype(*msg->{{=field.name}}.data)>>(sequence_buffer->Buffer(), 0, msg->{{=field.name}}.size));
 {{??}}
diff --git a/rosidl_gen/templates/messageRosidl.dot b/rosidl_gen/templates/messageRosidl.dot
index 39b71e16..56907fff 100644
--- a/rosidl_gen/templates/messageRosidl.dot
+++ b/rosidl_gen/templates/messageRosidl.dot
@@ -233,7 +233,8 @@ class {{=objectWrapper}} {
   constructor(other) {
     this._rawRos = undefined;
     if (other === undefined) {
-      this._proxyObj = {};
+      this._rawRos = {{=objectWrapper}}._createRosMessage();
+      this._proxyObj = {{=objectWrapper}}._toJsObject(this._rawRos);
     } else if (other instanceof {{=objectWrapper}}) {
       this._proxyObj = other._proxyObj;
     } else {
diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index a06c5b69..bff211b1 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -11,6 +11,7 @@
 
 #include <codecvt>
 #include <exception>
+#include <iostream>
 #include <limits>
 #include <locale>
 #include <sstream>
@@ -501,7 +502,7 @@ inline v8::Local<v8::Value> ToJsObjectArrayChecked(
           .ToLocalChecked();
   v8::Local<v8::Value> argv[1];
   for (uint32_t i = 0; i < js_len; ++i) {
-    argv[0] = v8::Uint8Array::New(buffer, offset, len * sizeof(T));
+    argv[0] = v8::Uint8Array::New(buffer, offset + i * sizeof(T), sizeof(T));
     auto js_obj = Nan::Call(typesupport_func, Nan::New<v8::Object>(), 1, argv)
                       .ToLocalChecked();
     Nan::Set(js_array, i, js_obj);

From dcbc0d7e32946682f7d6ade74558585afac5f281 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Wed, 16 Dec 2020 11:08:02 +0800
Subject: [PATCH 40/64] fix tests

---
 test/test-disable-typedarray.js | 296 ++++++++++++++++----------------
 test/test-multi-nodes.js        |   2 +-
 2 files changed, 151 insertions(+), 147 deletions(-)

diff --git a/test/test-disable-typedarray.js b/test/test-disable-typedarray.js
index 11c959b9..42fd76c1 100644
--- a/test/test-disable-typedarray.js
+++ b/test/test-disable-typedarray.js
@@ -16,184 +16,188 @@
 
 const assert = require('assert');
 const rclnodejs = require('../index.js');
+const generatorOptions = require('../generated/generator-options');
 
 /* eslint-disable camelcase */
 /* eslint-disable key-spacing */
 /* eslint-disable comma-spacing */
-describe('rclnodejs message communication', function () {
-  this.timeout(60 * 1000);
+// rosidl generator only supports typed array
+if (generatorOptions.idlProvider !== 'rosidl') {
+  describe('rclnodejs message communication', function () {
+    this.timeout(60 * 1000);
 
-  before(function () {
-    return rclnodejs.init();
-  });
-
-  after(function () {
-    rclnodejs.shutdown();
-  });
-
-  it('disable TypedArray in topic', function (done) {
-    const msg = {
-      header: {
-        stamp: {
-          sec: 123456,
-          nanosec: 789,
-        },
-        frame_id: 'main frame',
-      },
-      name: ['Tom', 'Jerry'],
-      position: [1, 2],
-      velocity: [2, 3],
-      effort: [4, 5, 6],
-    };
-
-    let node = rclnodejs.createNode('disable_typedarray');
-    let timer = setInterval(() => {
-      let publisher = node.createPublisher(
-        'sensor_msgs/msg/JointState',
-        'JointState'
-      );
-      assert.doesNotThrow(() => {
-        publisher.publish(msg);
-      }, RangeError);
-    }, 100);
+    before(function () {
+      return rclnodejs.init();
+    });
 
-    node.createSubscription(
-      'sensor_msgs/msg/JointState',
-      'JointState',
-      { enableTypedArray: false },
-      (response) => {
-        clearInterval(timer);
-        assert.deepStrictEqual(response, msg);
-        node.destroy();
-        done();
-      }
-    );
-    rclnodejs.spin(node);
-  });
+    after(function () {
+      rclnodejs.shutdown();
+    });
 
-  it('disable TypedArray in response', function (done) {
-    const mapData = {
-      map: {
+    it('disable TypedArray in topic', function (done) {
+      const msg = {
         header: {
           stamp: {
             sec: 123456,
             nanosec: 789,
           },
-          frame_id: 'main_frame',
+          frame_id: 'main frame',
         },
-        info: {
-          map_load_time: {
-            sec: 123456,
-            nanosec: 789,
+        name: ['Tom', 'Jerry'],
+        position: [1, 2],
+        velocity: [2, 3],
+        effort: [4, 5, 6],
+      };
+
+      let node = rclnodejs.createNode('disable_typedarray');
+      let timer = setInterval(() => {
+        let publisher = node.createPublisher(
+          'sensor_msgs/msg/JointState',
+          'JointState'
+        );
+        assert.doesNotThrow(() => {
+          publisher.publish(msg);
+        }, RangeError);
+      }, 100);
+
+      node.createSubscription(
+        'sensor_msgs/msg/JointState',
+        'JointState',
+        { enableTypedArray: false },
+        (response) => {
+          clearInterval(timer);
+          assert.deepStrictEqual(response, msg);
+          node.destroy();
+          done();
+        }
+      );
+      rclnodejs.spin(node);
+    });
+
+    it('disable TypedArray in response', function (done) {
+      const mapData = {
+        map: {
+          header: {
+            stamp: {
+              sec: 123456,
+              nanosec: 789,
+            },
+            frame_id: 'main_frame',
           },
-          resolution: 1.0,
-          width: 1024,
-          height: 768,
-          origin: {
-            position: {
-              x: 0.0,
-              y: 0.0,
-              z: 0.0,
+          info: {
+            map_load_time: {
+              sec: 123456,
+              nanosec: 789,
             },
-            orientation: {
-              x: 0.0,
-              y: 0.0,
-              z: 0.0,
-              w: 0.0,
+            resolution: 1.0,
+            width: 1024,
+            height: 768,
+            origin: {
+              position: {
+                x: 0.0,
+                y: 0.0,
+                z: 0.0,
+              },
+              orientation: {
+                x: 0.0,
+                y: 0.0,
+                z: 0.0,
+                w: 0.0,
+              },
             },
           },
+          data: [1, 2, 3],
         },
-        data: [1, 2, 3],
-      },
-    };
-    const node = rclnodejs.createNode('disable_typedarray');
+      };
+      const node = rclnodejs.createNode('disable_typedarray');
 
-    node.createService('nav_msgs/srv/GetMap', 'get_map', () => {
-      return mapData;
-    });
+      node.createService('nav_msgs/srv/GetMap', 'get_map', () => {
+        return mapData;
+      });
 
-    rclnodejs.spin(node);
-    const client = node.createClient('nav_msgs/srv/GetMap', 'get_map', {
-      enableTypedArray: false,
-    });
-    client.sendRequest({}, (response) => {
-      assert.deepStrictEqual(response, mapData);
-      node.destroy();
-      done();
+      rclnodejs.spin(node);
+      const client = node.createClient('nav_msgs/srv/GetMap', 'get_map', {
+        enableTypedArray: false,
+      });
+      client.sendRequest({}, (response) => {
+        assert.deepStrictEqual(response, mapData);
+        node.destroy();
+        done();
+      });
     });
-  });
 
-  it('disable TypedArray in request', function (done) {
-    const mapData = {
-      map: {
-        header: {
-          stamp: {
-            sec: 123456,
-            nanosec: 789,
-          },
-          frame_id: 'main_frame',
-        },
-        info: {
-          map_load_time: {
-            sec: 123456,
-            nanosec: 789,
+    it('disable TypedArray in request', function (done) {
+      const mapData = {
+        map: {
+          header: {
+            stamp: {
+              sec: 123456,
+              nanosec: 789,
+            },
+            frame_id: 'main_frame',
           },
-          resolution: 1.0,
-          width: 1024,
-          height: 768,
-          origin: {
-            position: {
-              x: 0.0,
-              y: 0.0,
-              z: 0.0,
+          info: {
+            map_load_time: {
+              sec: 123456,
+              nanosec: 789,
             },
-            orientation: {
-              x: 0.0,
-              y: 0.0,
-              z: 0.0,
-              w: 0.0,
+            resolution: 1.0,
+            width: 1024,
+            height: 768,
+            origin: {
+              position: {
+                x: 0.0,
+                y: 0.0,
+                z: 0.0,
+              },
+              orientation: {
+                x: 0.0,
+                y: 0.0,
+                z: 0.0,
+                w: 0.0,
+              },
             },
           },
+          data: [1, 2, 3],
         },
-        data: [1, 2, 3],
-      },
-      initial_pose: {
-        header: {
-          stamp: {
-            sec: 123456,
-            nanosec: 789,
+        initial_pose: {
+          header: {
+            stamp: {
+              sec: 123456,
+              nanosec: 789,
+            },
+            frame_id: 'main frame',
           },
-          frame_id: 'main frame',
-        },
-        pose: {
           pose: {
-            position: { x: 11.5, y: 112.75, z: 9.0 },
-            orientation: { x: 31.5, y: 21.5, z: 7.5, w: 1.5 },
+            pose: {
+              position: { x: 11.5, y: 112.75, z: 9.0 },
+              orientation: { x: 31.5, y: 21.5, z: 7.5, w: 1.5 },
+            },
+            covariance: Array.from({ length: 36 }, (v, k) => k),
           },
-          covariance: Array.from({ length: 36 }, (v, k) => k),
         },
-      },
-    };
+      };
 
-    const node = rclnodejs.createNode('array_client');
-    node.createService(
-      'nav_msgs/srv/SetMap',
-      'set_map',
-      { enableTypedArray: false },
-      (request, response) => {
-        assert.deepStrictEqual(request, mapData);
-        let result = response.template;
-        result.success = true;
-        response.send(result);
-      }
-    );
+      const node = rclnodejs.createNode('array_client');
+      node.createService(
+        'nav_msgs/srv/SetMap',
+        'set_map',
+        { enableTypedArray: false },
+        (request, response) => {
+          assert.deepStrictEqual(request, mapData);
+          let result = response.template;
+          result.success = true;
+          response.send(result);
+        }
+      );
 
-    rclnodejs.spin(node);
-    const client = node.createClient('nav_msgs/srv/SetMap', 'set_map');
-    client.sendRequest(mapData, (response) => {
-      assert.deepStrictEqual(response.success, true);
-      node.destroy();
-      done();
+      rclnodejs.spin(node);
+      const client = node.createClient('nav_msgs/srv/SetMap', 'set_map');
+      client.sendRequest(mapData, (response) => {
+        assert.deepStrictEqual(response.success, true);
+        node.destroy();
+        done();
+      });
     });
   });
-});
+}
diff --git a/test/test-multi-nodes.js b/test/test-multi-nodes.js
index 8bd7c52f..a5e994a0 100644
--- a/test/test-multi-nodes.js
+++ b/test/test-multi-nodes.js
@@ -69,7 +69,7 @@ describe('Multiple nodes interation testing', function () {
       );
       var jsPublisher = node.createPublisher(RclString, 'js_pycpp_chatter');
       setTimeout(() => {
-        jsPublisher.publish(msg);
+        jsPublisher.publish({ data: msg });
       }, 1000);
       rclnodejs.spin(node);
     });

From 6754715bea24476816c1e6ede2e7add9dbc03117 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Wed, 16 Dec 2020 11:11:36 +0800
Subject: [PATCH 41/64] fix tests

---
 test/test-cross-lang.js          | 4 ++--
 test/test-lifecycle-publisher.js | 8 ++++----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/test/test-cross-lang.js b/test/test-cross-lang.js
index 1a63f289..307b79da 100644
--- a/test/test-cross-lang.js
+++ b/test/test-cross-lang.js
@@ -106,7 +106,7 @@ describe('Cross-language interaction', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        publisher.publish({ data: msg });
       });
       rclnodejs.spin(node);
     });
@@ -135,7 +135,7 @@ describe('Cross-language interaction', function () {
       var msg = text;
 
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        publisher.publish({ data: msg });
       });
 
       rclnodejs.spin(node);
diff --git a/test/test-lifecycle-publisher.js b/test/test-lifecycle-publisher.js
index 688e1e9f..ab0e86d3 100644
--- a/test/test-lifecycle-publisher.js
+++ b/test/test-lifecycle-publisher.js
@@ -97,22 +97,22 @@ describe('LifecyclePublisher test suite', function () {
       }
     );
 
-    lifecyclePublisher.publish(TEST_MSG);
+    lifecyclePublisher.publish({ data: TEST_MSG });
     await assertUtils.createDelay(waitTime);
     assert.strictEqual(cbCnt, 0);
 
     lifecyclePublisher.activate();
-    lifecyclePublisher.publish(TEST_MSG);
+    lifecyclePublisher.publish({ data: TEST_MSG });
     await assertUtils.createDelay(waitTime);
     assert.strictEqual(cbCnt, 1);
 
     lifecyclePublisher.deactivate();
-    lifecyclePublisher.publish(TEST_MSG);
+    lifecyclePublisher.publish({ data: TEST_MSG });
     await assertUtils.createDelay(waitTime);
     assert.strictEqual(cbCnt, 1);
 
     lifecyclePublisher.activate();
-    lifecyclePublisher.publish(TEST_MSG);
+    lifecyclePublisher.publish({ data: TEST_MSG });
     await assertUtils.createDelay(waitTime);
     assert.strictEqual(cbCnt, 2);
   });

From 9e8cf57ac583c4fb1be41583f82cac66ae74b546 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Wed, 16 Dec 2020 11:44:13 +0800
Subject: [PATCH 42/64] fix tests

---
 test/test-cross-lang.js                   | 13 +++-
 test/test-message-translator-primitive.js |  9 ++-
 test/test-message-type.js                 |  2 +-
 test/test-msg-type-cpp-node.js            | 85 +++++++++++++++++++----
 test/test-msg-type-py-node.js             | 85 +++++++++++++++++++----
 test/test-multi-nodes.js                  |  7 +-
 test/test-single-process.js               |  7 +-
 7 files changed, 173 insertions(+), 35 deletions(-)

diff --git a/test/test-cross-lang.js b/test/test-cross-lang.js
index 307b79da..786d87e3 100644
--- a/test/test-cross-lang.js
+++ b/test/test-cross-lang.js
@@ -20,6 +20,7 @@ const childProcess = require('child_process');
 const rclnodejs = require('../index.js');
 const utils = require('./utils.js');
 const kill = require('tree-kill');
+const generatorOptions = require('../generated/generator-options');
 
 describe('Cross-language interaction', function () {
   this.timeout(60 * 1000);
@@ -106,7 +107,11 @@ describe('Cross-language interaction', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish({ data: msg });
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -135,7 +140,11 @@ describe('Cross-language interaction', function () {
       var msg = text;
 
       var timer = node.createTimer(100, () => {
-        publisher.publish({ data: msg });
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
 
       rclnodejs.spin(node);
diff --git a/test/test-message-translator-primitive.js b/test/test-message-translator-primitive.js
index 66c26010..6ee01005 100644
--- a/test/test-message-translator-primitive.js
+++ b/test/test-message-translator-primitive.js
@@ -17,6 +17,7 @@
 const rclnodejs = require('../index.js');
 const deepEqual = require('deep-equal');
 const arrayGen = require('./array_generator.js');
+const generatorOptions = require('../generated/generator-options');
 
 /* eslint-disable camelcase */
 /* eslint-disable indent */
@@ -35,7 +36,7 @@ describe('Rclnodejs message translation: primitive types', function () {
   [
     { type: 'Bool', values: [true, false] },
     { type: 'Byte', values: [0, 1, 2, 3, 255] },
-    { type: 'Char', values: [-128, -127, -2, -1, 0, 1, 2, 3, 127] },
+    { type: 'Char', values: [0, 1, 2, 3, 127, 128, 255] }, // char is unsigned in ROS
     { type: 'Float32', values: [-5, 0, 1.25, 89.75, 72.5, 3.14e5] },
     { type: 'Float64', values: [-5, 0, 1.25, 89.75, 72.5, 3.14159265358e8] },
     { type: 'Int16', values: [-32768, -2, -1, 0, 1, 2, 3, 32767] },
@@ -103,7 +104,11 @@ describe('Rclnodejs message translation: primitive types', function () {
                 );
               }
             });
-            publisher.publish(v); // Short-cut form of publishing primitive types
+            if (generatorOptions.idlProvider === 'rosidl') {
+              publisher.publish({ data: v }); // Short-cut form not supported in rosidl generator
+            } else {
+              publisher.publish(v); // Short-cut form of publishing primitive types
+            }
             rclnodejs.spin(node);
           });
         }
diff --git a/test/test-message-type.js b/test/test-message-type.js
index 5034a35e..730588de 100644
--- a/test/test-message-type.js
+++ b/test/test-message-type.js
@@ -71,7 +71,7 @@ describe('Rclnodejs message type testing', function () {
       const msgChar = 'std_msgs/msg/Char';
       var publisher = childProcess.fork(`${__dirname}/publisher_msg.js`, [
         'Char',
-        '"A"',
+        '65', // char in uint8 in ROS
       ]);
       var subscription = node.createSubscription(
         msgChar,
diff --git a/test/test-msg-type-cpp-node.js b/test/test-msg-type-cpp-node.js
index 09bfa1c0..938301a9 100644
--- a/test/test-msg-type-cpp-node.js
+++ b/test/test-msg-type-cpp-node.js
@@ -22,6 +22,7 @@ const childProcess = require('child_process');
 const deepEqual = require('deep-equal');
 const rclnodejs = require('../index.js');
 const utils = require('./utils.js');
+const generatorOptions = require('../generated/generator-options');
 
 describe('Rclnodejs - Cpp message type testing', function () {
   var cppSubscriptionPath = path.join(__dirname, 'cpp', 'subscription_msg');
@@ -59,7 +60,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -83,7 +88,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -107,7 +116,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -131,7 +144,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -156,7 +173,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -180,7 +201,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -204,7 +229,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -228,7 +257,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -252,7 +285,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -275,7 +312,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -298,7 +339,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -322,7 +367,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -345,7 +394,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -368,7 +421,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
diff --git a/test/test-msg-type-py-node.js b/test/test-msg-type-py-node.js
index 8bbc93c6..5cfbbb45 100644
--- a/test/test-msg-type-py-node.js
+++ b/test/test-msg-type-py-node.js
@@ -21,6 +21,7 @@ const childProcess = require('child_process');
 const deepEqual = require('deep-equal');
 const rclnodejs = require('../index.js');
 const utils = require('./utils.js');
+const generatorOptions = require('../generated/generator-options');
 
 describe('Rclnodejs - Python message type testing', function () {
   this.timeout(60 * 1000);
@@ -59,7 +60,15 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          if (generatorOptions.idlProvider === 'rosidl') {
+            publisher.publish({ data: msg }); // short form not supported by rosidl generator
+          } else {
+            publisher.publish(msg);
+          } // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -87,7 +96,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        publisher.publish({ data: msg.charCodeAt(0) });
       });
       rclnodejs.spin(node);
     });
@@ -115,7 +124,11 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -143,7 +156,11 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -171,7 +188,11 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -199,7 +220,11 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -227,7 +252,11 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -255,7 +284,11 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -283,7 +316,11 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -311,7 +348,11 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -339,7 +380,11 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -367,7 +412,11 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -395,7 +444,11 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
@@ -423,7 +476,11 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        publisher.publish(msg);
+        if (generatorOptions.idlProvider === 'rosidl') {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          publisher.publish(msg);
+        }
       });
       rclnodejs.spin(node);
     });
diff --git a/test/test-multi-nodes.js b/test/test-multi-nodes.js
index a5e994a0..cc0d3997 100644
--- a/test/test-multi-nodes.js
+++ b/test/test-multi-nodes.js
@@ -20,6 +20,7 @@ const childProcess = require('child_process');
 const rclnodejs = require('../index.js');
 const utils = require('./utils.js');
 const kill = require('tree-kill');
+const generatorOptions = require('../generated/generator-options');
 
 describe('Multiple nodes interation testing', function () {
   this.timeout(60 * 1000);
@@ -69,7 +70,11 @@ describe('Multiple nodes interation testing', function () {
       );
       var jsPublisher = node.createPublisher(RclString, 'js_pycpp_chatter');
       setTimeout(() => {
-        jsPublisher.publish({ data: msg });
+        if (generatorOptions.idlProvider === 'rosidl') {
+          jsPublisher.publish({ data: msg }); // short form not supported by rosidl generator
+        } else {
+          jsPublisher.publish(msg);
+        }
       }, 1000);
       rclnodejs.spin(node);
     });
diff --git a/test/test-single-process.js b/test/test-single-process.js
index 6ee22d8b..e6ff1c38 100644
--- a/test/test-single-process.js
+++ b/test/test-single-process.js
@@ -16,6 +16,7 @@
 
 const assert = require('assert');
 const rclnodejs = require('../index.js');
+const generatorOptions = require('../generated/generator-options');
 
 describe('Test rclnodejs nodes in a single process', function () {
   this.timeout(60 * 1000);
@@ -51,7 +52,11 @@ describe('Test rclnodejs nodes in a single process', function () {
       'single_ps_channel1'
     );
     var timer = publisherNode.createTimer(100, () => {
-      publisher.publish({ data: msg });
+      if (generatorOptions.idlProvider === 'rosidl') {
+        publisher.publish({ data: msg }); // short form not supported by rosidl generator
+      } else {
+        publisher.publish(msg);
+      }
     });
     rclnodejs.spin(subscriptionNode);
     rclnodejs.spin(publisherNode);

From 3dc6f4fd2d996a230dfbd6d89f82bb78240eb284 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Wed, 16 Dec 2020 12:15:49 +0800
Subject: [PATCH 43/64] remove postinstalls script

---
 package.json | 1 -
 1 file changed, 1 deletion(-)

diff --git a/package.json b/package.json
index e332cd6a..399f0b24 100644
--- a/package.json
+++ b/package.json
@@ -18,7 +18,6 @@
     "test": "node ./scripts/compile_tests.js && node --expose-gc ./scripts/run_test.js && npm run dtslint",
     "dtslint": "node ./scripts/generate_tsd.js && dtslint test/types",
     "lint": "eslint --max-warnings=0 --ext js,ts index.js types scripts lib example rosidl_gen rosidl_parser test benchmark/rclnodejs && node ./scripts/cpplint.js",
-    "postinstall": "node scripts/generate_messages.js",
     "format": "clang-format -i -style=file ./src/*.cpp ./src/*.hpp && prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark}/**/*.{js,md,ts}\" ./*.{js,md,ts}"
   },
   "authors": [

From 4aac6a0f1770ad7c14dd75ce61db49f8132e8030 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Wed, 16 Dec 2020 12:43:15 +0800
Subject: [PATCH 44/64] cleanup

---
 rosidl_gen/templates/messageRosidl.dot | 88 +-------------------------
 1 file changed, 1 insertion(+), 87 deletions(-)

diff --git a/rosidl_gen/templates/messageRosidl.dot b/rosidl_gen/templates/messageRosidl.dot
index 56907fff..ac92dc9d 100644
--- a/rosidl_gen/templates/messageRosidl.dot
+++ b/rosidl_gen/templates/messageRosidl.dot
@@ -7,11 +7,7 @@
 
 {{
 let objectWrapper = it.spec.msgName + 'Wrapper';
-let arrayWrapper = it.spec.msgName + 'ArrayWrapper';
 
-let refObjectType = it.spec.msgName + 'RefStruct';
-let refObjectArrayType = it.spec.msgName + 'RefStructArray';
-let refArrayType = it.spec.msgName + 'RefArray';
 const compactMsgDefJSON = JSON.stringify(JSON.parse(it.json));
 
 if (it.spec.fields.length === 0) {
@@ -67,82 +63,8 @@ function getPrimitiveNameByType(type) {
   }
 }
 
-function getTypedArrayName(type) {
-  const t = type.type.toLowerCase();
-  let typedArrayName;
-
-  switch (t) {
-    case 'byte':
-    case 'octet':
-    case 'uint8':
-      typedArrayName = 'Uint8Array';
-      break;
-    case 'char':
-    case 'int8':
-      typedArrayName = 'Int8Array';
-      break;
-    case 'int16':
-    case 'short':
-      typedArrayName = 'Int16Array';
-      break;
-    case 'uint16':
-    case 'unsigned short':
-      typedArrayName = 'Uint16Array';
-      break;
-    case 'int32':
-    case 'long':
-      typedArrayName = 'Int32Array';
-      break;
-    case 'uint32':
-    case 'unsigned long':
-      typedArrayName = 'Uint32Array';
-      break;
-    case 'float':
-    case 'float32':
-      typedArrayName = 'Float32Array';
-      break;
-    case 'double':
-    case 'float64':
-      typedArrayName = 'Float64Array';
-      break;
-    default:
-      typedArrayName = '';
-  }
-
-  return typedArrayName;
-}
-
-function getTypedArrayElementName(type) {
-  const t = type.type.toLowerCase();
-  if (t === 'int8') {
-    return 'int8';
-  } else if (t === 'uint8') {
-    return 'uint8';
-  } else if (t === 'int16') {
-    return 'int16';
-  } else if (t === 'uint16') {
-    return 'uint16';
-  } else if (t === 'int32') {
-    return 'int32';
-  } else if (t === 'uint32') {
-    return 'uint32';
-  } else if (t === 'float64') {
-    return 'double';
-  } else if (t === 'float32') {
-    return 'float';
-  } else if (t === 'char') {
-    return 'int8';
-  } else if (t === 'byte') {
-    return 'uint8';
-  } else {
-    return '';
-  }
-}
-
 const primitiveBaseType = ['Bool', 'Int8', 'UInt8', 'Int16', 'UInt16', 'Int32', 'UInt32',
                            'Int64', 'UInt64', 'Float64', 'Float32', 'Char', 'Byte', 'String'];
-const typedArrayType = ['int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32',
-                        'float64', 'float32', 'char', 'byte'];
 
 let existedModules = [];
 
@@ -154,17 +76,9 @@ function isPrimitivePackage(baseType) {
   return primitiveBaseType.indexOf(baseType.type) !== -1;
 }
 
-function isTypedArrayType(type) {
-  return typedArrayType.indexOf(type.type.toLowerCase()) !== -1;
-}
-
-const usePlainTypedArray = isTypedArrayType(it.spec.baseType);
-const currentTypedArray = getTypedArrayName(it.spec.baseType);
-const currentTypedArrayElementType = getTypedArrayElementName(it.spec.baseType);
-
 function shouldRequire(baseType, fieldType) {
   let requiredModule = '{{=getPackageNameByType(fieldType)}}/{{=getModulePathByType(fieldType)}}';
-  let shouldRequire = !isPrimitivePackage(baseType) && !fieldType.isPrimitiveType;
+  let shouldRequire = !fieldType.isPrimitiveType;
 
   if (shouldRequire && !isExisted(requiredModule)) {
     existedModules.push(requiredModule);

From 674a32cd15295aa7a1293b38df512eff658598e9 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Thu, 7 Jan 2021 16:22:53 +0800
Subject: [PATCH 45/64] allow runtime message generation

---
 binding.gyp                              |   5 +-
 package.json                             |   3 +-
 rosidl_gen/idl_generator.js              |   7 +-
 rosidl_gen/index.js                      |  30 +++++--
 rosidl_gen/templates/messageRosidl.dot   |   2 +-
 rosidl_gen/templates/typesupportGyp.dot  | 103 +++++++++++++++++++++++
 rosidl_gen/templates/typesupportGypi.dot |  19 -----
 7 files changed, 132 insertions(+), 37 deletions(-)
 create mode 100644 rosidl_gen/templates/typesupportGyp.dot
 delete mode 100644 rosidl_gen/templates/typesupportGypi.dot

diff --git a/binding.gyp b/binding.gyp
index fe69e337..70324ece 100644
--- a/binding.gyp
+++ b/binding.gyp
@@ -146,8 +146,5 @@
         ]
       ]
     }
-  ],
-  'includes': [
-    'src/generated/typesupport.gypi',
-  ],
+  ]
 }
diff --git a/package.json b/package.json
index 399f0b24..36d840d3 100644
--- a/package.json
+++ b/package.json
@@ -13,7 +13,7 @@
     "typescript"
   ],
   "scripts": {
-    "install": "node scripts/generate_messages.js && node scripts/build.js",
+    "install": "node scripts/build.js && node scripts/generate_messages.js",
     "docs": "cd docs && make",
     "test": "node ./scripts/compile_tests.js && node --expose-gc ./scripts/run_test.js && npm run dtslint",
     "dtslint": "node ./scripts/generate_tsd.js && dtslint test/types",
@@ -44,6 +44,7 @@
     "husky": "^4.2.5",
     "lint-staged": "^10.2.11",
     "mocha": "^8.0.1",
+    "node-gyp": "^7.1.2",
     "prettier": "^2.0.5",
     "sinon": "^9.0.2",
     "tree-kill": "^1.2.2",
diff --git a/rosidl_gen/idl_generator.js b/rosidl_gen/idl_generator.js
index 2f351910..ae315329 100644
--- a/rosidl_gen/idl_generator.js
+++ b/rosidl_gen/idl_generator.js
@@ -578,11 +578,8 @@ async function generateTypesupportGypi(pkgsEntries, rosIdlDb, options) {
       dependencies: await rosIdlDb.getDependentPackages(pkgName),
     }))
   );
-  const rendered = removeEmptyLines(dots.typesupportGypi({ pkgs }));
-  await fs.writeFile(
-    path.join('src', 'generated', 'typesupport.gypi'),
-    rendered
-  );
+  const rendered = removeEmptyLines(dots.typesupportGyp({ pkgs }));
+  await fs.writeFile(path.join('src', 'generated', 'binding.gyp'), rendered);
 }
 
 module.exports = {
diff --git a/rosidl_gen/index.js b/rosidl_gen/index.js
index 8cc53241..8fb56a4b 100644
--- a/rosidl_gen/index.js
+++ b/rosidl_gen/index.js
@@ -14,14 +14,16 @@
 
 'use strict';
 
+const child_process = require('child_process');
 const fsp = require('fs').promises;
 const fse = require('fs-extra');
 const {
   RosIdlDb,
   generateJSStructFromIDL,
   generateCppDefinitions,
-  generateTypesupportGypi,
+  generateTypesupportGypi: generateTypesupportGyp,
 } = require('./idl_generator.js');
+const os = require('os');
 const packages = require('./packages.js');
 const path = require('path');
 
@@ -52,12 +54,26 @@ async function generateInPaths(paths, options) {
     )
   );
 
-  await Promise.all(
-    pkgsEntries.map(([pkgName, pkgInfo]) =>
-      generateCppDefinitions(pkgName, pkgInfo, rosIdlDb, options)
-    )
-  );
-  await generateTypesupportGypi(pkgsEntries, rosIdlDb, options);
+  if (options.idlProvider === 'rosidl') {
+    await Promise.all(
+      pkgsEntries.map(([pkgName, pkgInfo]) =>
+        generateCppDefinitions(pkgName, pkgInfo, rosIdlDb, options)
+      )
+    );
+    await generateTypesupportGyp(pkgsEntries, rosIdlDb, options);
+    await child_process.spawn(
+      'node',
+      [`${__dirname}/../node_modules/.bin/node-gyp`, 'rebuild'],
+      {
+        cwd: `${__dirname}/../src/generated`,
+        stdio: 'inherit',
+        env: {
+          ...process.env,
+          JOBS: os.cpus().length,
+        },
+      }
+    );
+  }
 }
 
 async function generateAll(forcedGenerating) {
diff --git a/rosidl_gen/templates/messageRosidl.dot b/rosidl_gen/templates/messageRosidl.dot
index ac92dc9d..f639a370 100644
--- a/rosidl_gen/templates/messageRosidl.dot
+++ b/rosidl_gen/templates/messageRosidl.dot
@@ -130,7 +130,7 @@ function extractMemberNames(fields) {
 }
 }}
 
-const typesupport = require('bindings')('{{=it.messageInfo.pkgName}}__rosidl_node').{{=it.messageInfo.interfaceName}};
+const typesupport = require('../../src/generated/build/Release/{{=it.messageInfo.pkgName}}__rosidl_node').{{=it.messageInfo.interfaceName}};
 
 const typesupportDeps = {};
 {{~ it.spec.fields :field}}
diff --git a/rosidl_gen/templates/typesupportGyp.dot b/rosidl_gen/templates/typesupportGyp.dot
new file mode 100644
index 00000000..13c88452
--- /dev/null
+++ b/rosidl_gen/templates/typesupportGyp.dot
@@ -0,0 +1,103 @@
+{
+  'target_defaults': {
+    'default_configuration': 'Release',
+    'configurations': {
+      'Debug': {
+        'defines': ['DEBUG_ON'],
+      },
+    }
+  },
+  'target_defaults': {
+    'include_dirs': [
+      "<!(node -e \"require('nan')\")",
+    ],
+    'cflags!': [
+        '-fno-exceptions'
+    ],
+    'cflags': [
+      '-fstack-protector-strong',
+      '-fPIE -fPIC',
+      '-O2 -D_FORTIFY_SOURCE=2',
+      '-Wformat -Wformat-security'
+    ],
+    'cflags_cc!': [
+      '-fno-exceptions'
+    ],
+    'conditions': [
+      [
+        'OS=="linux"', {
+          'defines': [
+            'OS_LINUX'
+          ],
+          'cflags_cc': [
+            '-std=c++14'
+          ],
+          'include_dirs': [
+            "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/ ') + '/include/')\")",
+          ],
+          'library_dirs': [
+            "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/lib/ ') + '/lib/')\")",
+          ],
+        },
+      ],
+      [
+        'OS=="win"', {
+          'defines': [
+            'OS_WINDOWS'
+          ],
+          'cflags_cc': [
+            '-std=c++14'
+          ],
+          'include_dirs': [
+            "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '\\\include ').replace(/\\\/g, '/') + '/include')\")",
+          ],
+          'msvs_settings': {
+            'VCCLCompilerTool': {
+              'ExceptionHandling': '2', # /EHsc
+            },
+            'VCLinkerTool': {
+              'AdditionalDependencies': ['psapi.lib'],
+              'AdditionalLibraryDirectories': ["<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/;/g, '\\\lib ').replace(/\\\/g, '/') + '/lib')\")",],
+            }
+          }
+        },
+      ],
+      [
+        'OS=="mac"', {
+          'defines': [
+            'OS_MACOS'
+          ],
+          'include_dirs': [
+            "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/include/ ') + '/include/')\")",
+          ],
+          'library_dirs': [
+              "<!@(node -e \"console.log(process.env.AMENT_PREFIX_PATH.replace(/:/g, '/lib/ ') + '/lib/')\")",
+          ],
+          'xcode_settings': {
+            'GCC_ENABLE_CPP_EXCEPTIONS': 'YES',
+            'CLANG_CXX_LIBRARY': 'libc++',
+            'MACOS_DEPLOYMENT_TARGET': '10.12',
+            'CLANG_CXX_LANGUAGE_STANDARD': 'c++14'
+          },
+        },
+      ],
+    ],
+  },
+  'targets': [
+{{~ it.pkgs : pkg}}
+    {
+      'target_name': '{{=pkg.pkgName}}__rosidl_node',
+      'sources': [
+        '{{=pkg.pkgName}}/definitions.cpp',
+      ],
+      'link_settings': {
+        'libraries': [
+{{~ pkg.linkLibraries : lib}}
+          '-l{{=lib}}',
+{{~}}
+        ],
+      },
+    },
+{{~}}
+  ],
+}
diff --git a/rosidl_gen/templates/typesupportGypi.dot b/rosidl_gen/templates/typesupportGypi.dot
deleted file mode 100644
index 0b732b9d..00000000
--- a/rosidl_gen/templates/typesupportGypi.dot
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  'targets': [
-{{~ it.pkgs : pkg}}
-    {
-      'target_name': '{{=pkg.pkgName}}__rosidl_node',
-      'sources': [
-        '{{=pkg.pkgName}}/definitions.cpp',
-      ],
-      'link_settings': {
-        'libraries': [
-{{~ pkg.linkLibraries : lib}}
-          '-l{{=lib}}',
-{{~}}
-        ],
-      },
-    },
-{{~}}
-  ],
-}

From e7eccfb5d9af84970e7855d00555e8c6fd1c469f Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Thu, 7 Jan 2021 16:28:17 +0800
Subject: [PATCH 46/64] replace generatorOptions tests with process.env tests

---
 test/test-cross-lang.js                   |  5 ++--
 test/test-disable-typedarray.js           |  3 +--
 test/test-message-translator-primitive.js |  3 +--
 test/test-msg-type-cpp-node.js            | 29 ++++++++++----------
 test/test-msg-type-py-node.js             | 33 ++++++++++-------------
 test/test-multi-nodes.js                  |  3 +--
 test/test-single-process.js               |  3 +--
 7 files changed, 34 insertions(+), 45 deletions(-)

diff --git a/test/test-cross-lang.js b/test/test-cross-lang.js
index 786d87e3..3225c538 100644
--- a/test/test-cross-lang.js
+++ b/test/test-cross-lang.js
@@ -20,7 +20,6 @@ const childProcess = require('child_process');
 const rclnodejs = require('../index.js');
 const utils = require('./utils.js');
 const kill = require('tree-kill');
-const generatorOptions = require('../generated/generator-options');
 
 describe('Cross-language interaction', function () {
   this.timeout(60 * 1000);
@@ -107,7 +106,7 @@ describe('Cross-language interaction', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -140,7 +139,7 @@ describe('Cross-language interaction', function () {
       var msg = text;
 
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
diff --git a/test/test-disable-typedarray.js b/test/test-disable-typedarray.js
index 42fd76c1..6ac3deae 100644
--- a/test/test-disable-typedarray.js
+++ b/test/test-disable-typedarray.js
@@ -16,13 +16,12 @@
 
 const assert = require('assert');
 const rclnodejs = require('../index.js');
-const generatorOptions = require('../generated/generator-options');
 
 /* eslint-disable camelcase */
 /* eslint-disable key-spacing */
 /* eslint-disable comma-spacing */
 // rosidl generator only supports typed array
-if (generatorOptions.idlProvider !== 'rosidl') {
+if (process.env.RCLNODEJS_USE_ROSIDL) {
   describe('rclnodejs message communication', function () {
     this.timeout(60 * 1000);
 
diff --git a/test/test-message-translator-primitive.js b/test/test-message-translator-primitive.js
index 6ee01005..c41261e9 100644
--- a/test/test-message-translator-primitive.js
+++ b/test/test-message-translator-primitive.js
@@ -17,7 +17,6 @@
 const rclnodejs = require('../index.js');
 const deepEqual = require('deep-equal');
 const arrayGen = require('./array_generator.js');
-const generatorOptions = require('../generated/generator-options');
 
 /* eslint-disable camelcase */
 /* eslint-disable indent */
@@ -104,7 +103,7 @@ describe('Rclnodejs message translation: primitive types', function () {
                 );
               }
             });
-            if (generatorOptions.idlProvider === 'rosidl') {
+            if (process.env.RCLNODEJS_USE_ROSIDL) {
               publisher.publish({ data: v }); // Short-cut form not supported in rosidl generator
             } else {
               publisher.publish(v); // Short-cut form of publishing primitive types
diff --git a/test/test-msg-type-cpp-node.js b/test/test-msg-type-cpp-node.js
index 938301a9..3cd56f59 100644
--- a/test/test-msg-type-cpp-node.js
+++ b/test/test-msg-type-cpp-node.js
@@ -22,7 +22,6 @@ const childProcess = require('child_process');
 const deepEqual = require('deep-equal');
 const rclnodejs = require('../index.js');
 const utils = require('./utils.js');
-const generatorOptions = require('../generated/generator-options');
 
 describe('Rclnodejs - Cpp message type testing', function () {
   var cppSubscriptionPath = path.join(__dirname, 'cpp', 'subscription_msg');
@@ -60,7 +59,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -88,7 +87,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -116,7 +115,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -144,7 +143,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -173,7 +172,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -201,7 +200,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -229,7 +228,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -257,7 +256,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -285,7 +284,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -312,7 +311,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -339,7 +338,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -367,7 +366,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -394,7 +393,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -421,7 +420,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
diff --git a/test/test-msg-type-py-node.js b/test/test-msg-type-py-node.js
index 5cfbbb45..fde56e37 100644
--- a/test/test-msg-type-py-node.js
+++ b/test/test-msg-type-py-node.js
@@ -21,7 +21,6 @@ const childProcess = require('child_process');
 const deepEqual = require('deep-equal');
 const rclnodejs = require('../index.js');
 const utils = require('./utils.js');
-const generatorOptions = require('../generated/generator-options');
 
 describe('Rclnodejs - Python message type testing', function () {
   this.timeout(60 * 1000);
@@ -60,12 +59,8 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
-          if (generatorOptions.idlProvider === 'rosidl') {
-            publisher.publish({ data: msg }); // short form not supported by rosidl generator
-          } else {
-            publisher.publish(msg);
-          } // short form not supported by rosidl generator
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
+          publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
         }
@@ -124,7 +119,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -156,7 +151,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -188,7 +183,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -220,7 +215,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -252,7 +247,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -284,7 +279,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -316,7 +311,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -348,7 +343,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -380,7 +375,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -412,7 +407,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -444,7 +439,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -476,7 +471,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
diff --git a/test/test-multi-nodes.js b/test/test-multi-nodes.js
index cc0d3997..a317898d 100644
--- a/test/test-multi-nodes.js
+++ b/test/test-multi-nodes.js
@@ -20,7 +20,6 @@ const childProcess = require('child_process');
 const rclnodejs = require('../index.js');
 const utils = require('./utils.js');
 const kill = require('tree-kill');
-const generatorOptions = require('../generated/generator-options');
 
 describe('Multiple nodes interation testing', function () {
   this.timeout(60 * 1000);
@@ -70,7 +69,7 @@ describe('Multiple nodes interation testing', function () {
       );
       var jsPublisher = node.createPublisher(RclString, 'js_pycpp_chatter');
       setTimeout(() => {
-        if (generatorOptions.idlProvider === 'rosidl') {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
           jsPublisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           jsPublisher.publish(msg);
diff --git a/test/test-single-process.js b/test/test-single-process.js
index e6ff1c38..3e018b3a 100644
--- a/test/test-single-process.js
+++ b/test/test-single-process.js
@@ -16,7 +16,6 @@
 
 const assert = require('assert');
 const rclnodejs = require('../index.js');
-const generatorOptions = require('../generated/generator-options');
 
 describe('Test rclnodejs nodes in a single process', function () {
   this.timeout(60 * 1000);
@@ -52,7 +51,7 @@ describe('Test rclnodejs nodes in a single process', function () {
       'single_ps_channel1'
     );
     var timer = publisherNode.createTimer(100, () => {
-      if (generatorOptions.idlProvider === 'rosidl') {
+      if (process.env.RCLNODEJS_USE_ROSIDL) {
         publisher.publish({ data: msg }); // short form not supported by rosidl generator
       } else {
         publisher.publish(msg);

From 1fcf56988e205c6112de7cef5201d2fdfdbcb32f Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Thu, 7 Jan 2021 18:05:56 +0800
Subject: [PATCH 47/64] various fixes, skipping unrelated tests

---
 rosidl_gen/index.js                    |    8 +-
 rosidl_gen/message_translator.js       |    1 +
 rosidl_gen/templates/messageRosidl.dot |    2 +-
 test/test-array-data.js                | 1064 ++++++++++++------------
 test/test-compound-msg-type-check.js   |   30 +-
 test/test-disable-typedarray.js        |    2 +-
 6 files changed, 573 insertions(+), 534 deletions(-)

diff --git a/rosidl_gen/index.js b/rosidl_gen/index.js
index 8fb56a4b..3c66ab3c 100644
--- a/rosidl_gen/index.js
+++ b/rosidl_gen/index.js
@@ -42,6 +42,8 @@ async function generateInPaths(paths, options) {
       pkgs.set(pkgName, { ...pkgInfo, amentRoot: paths[i] });
     }
   });
+  // skip this package as it contains message that is invalid
+  pkgs.delete('libstatistics_collector');
 
   const rosIdlDb = new RosIdlDb(pkgs);
 
@@ -56,9 +58,9 @@ async function generateInPaths(paths, options) {
 
   if (options.idlProvider === 'rosidl') {
     await Promise.all(
-      pkgsEntries.map(([pkgName, pkgInfo]) =>
-        generateCppDefinitions(pkgName, pkgInfo, rosIdlDb, options)
-      )
+      pkgsEntries.map(([pkgName, pkgInfo]) => {
+        generateCppDefinitions(pkgName, pkgInfo, rosIdlDb, options);
+      })
     );
     await generateTypesupportGyp(pkgsEntries, rosIdlDb, options);
     await child_process.spawn(
diff --git a/rosidl_gen/message_translator.js b/rosidl_gen/message_translator.js
index 647d72ff..7d94b0d4 100644
--- a/rosidl_gen/message_translator.js
+++ b/rosidl_gen/message_translator.js
@@ -49,6 +49,7 @@ function copyMsgObject(msg, obj) {
           }
         } else {
           // Proceed further of this object
+          console.log(i, msg[i]);
           copyMsgObject(msg[i], obj[i]);
         }
       } else {
diff --git a/rosidl_gen/templates/messageRosidl.dot b/rosidl_gen/templates/messageRosidl.dot
index f639a370..18cc65fe 100644
--- a/rosidl_gen/templates/messageRosidl.dot
+++ b/rosidl_gen/templates/messageRosidl.dot
@@ -148,7 +148,7 @@ class {{=objectWrapper}} {
     this._rawRos = undefined;
     if (other === undefined) {
       this._rawRos = {{=objectWrapper}}._createRosMessage();
-      this._proxyObj = {{=objectWrapper}}._toJsObject(this._rawRos);
+      this._proxyObj = {};
     } else if (other instanceof {{=objectWrapper}}) {
       this._proxyObj = other._proxyObj;
     } else {
diff --git a/test/test-array-data.js b/test/test-array-data.js
index 85d56812..df481d87 100644
--- a/test/test-array-data.js
+++ b/test/test-array-data.js
@@ -48,160 +48,183 @@ describe('rclnodejs message communication', function () {
     data_offset: 0,
   };
 
-  [
-    {
-      pkg: 'std_msgs',
-      type: 'Int8MultiArray',
-      values: [
-        { layout: layout, data: [-10, 1, 2, 3, 8, 6, 0, -25] }, // Provide data via Array
-        { layout: layout, data: Int8Array.from([-10, 1, 2, 3, 8, 6, 0, -25]) }, // Provide data via TypedArray
-      ],
-    },
-    {
-      pkg: 'std_msgs',
-      type: 'Int16MultiArray',
-      values: [
-        { layout: layout, data: [-10, 1, 2, 3, 8, 6, 0, -25] }, // Provide data via Array
-        { layout: layout, data: Int16Array.from([-10, 1, 2, 3, 8, 6, 0, -25]) }, // Provide data via TypedArray
-      ],
-    },
-    {
-      pkg: 'std_msgs',
-      type: 'Int32MultiArray',
-      values: [
-        { layout: layout, data: [-10, 1, 2, 3, 8, 6, 0, -25] }, // Provide data via Array
-        { layout: layout, data: Int32Array.from([-10, 1, 2, 3, 8, 6, 0, -25]) }, // Provide data via TypedArray
-      ],
-    },
-    {
-      pkg: 'std_msgs',
-      type: 'Int64MultiArray',
-      values: [
-        {
-          layout: layout,
-          data: [-111, 1, 2, 3, 8, 6, 0, -25, Number.MAX_SAFE_INTEGER],
-        }, // Provide data via Array
-      ],
-    },
-    {
-      pkg: 'std_msgs',
-      type: 'ByteMultiArray',
-      values: [
-        { layout: layout, data: [0, 1, 2, 3, 8, 6, 0, 255] }, // Provide data via Array
-        { layout: layout, data: Uint8Array.from([0, 1, 2, 3, 8, 6, 0, 255]) }, // Provide data via TypedArray
-      ],
-    },
-    {
-      pkg: 'std_msgs',
-      type: 'UInt8MultiArray',
-      values: [
-        { layout: layout, data: [0, 1, 2, 3, 8, 6, 0, 255] }, // Provide data via Array
-        { layout: layout, data: Uint8Array.from([0, 1, 2, 3, 8, 6, 0, 255]) }, // Provide data via TypedArray
-      ],
-    },
-    {
-      pkg: 'std_msgs',
-      type: 'UInt16MultiArray',
-      values: [
-        { layout: layout, data: [0, 1, 2, 3, 8, 6, 0, 255] }, // Provide data via Array
-        { layout: layout, data: Uint16Array.from([0, 1, 2, 3, 8, 6, 0, 255]) }, // Provide data via TypedArray
-      ],
-    },
-    {
-      pkg: 'std_msgs',
-      type: 'UInt32MultiArray',
-      values: [
-        { layout: layout, data: [0, 1, 2, 3, 8, 6, 0, 255] }, // Provide data via Array
-        { layout: layout, data: Uint32Array.from([0, 1, 2, 3, 8, 6, 0, 255]) }, // Provide data via TypedArray
-      ],
-    },
-    {
-      pkg: 'std_msgs',
-      type: 'UInt64MultiArray',
-      values: [
-        {
-          layout: layout,
-          data: [0, 1, 2, 3, 8, 6, 0, 255, Number.MAX_SAFE_INTEGER],
-        }, // Provide data via Array
-      ],
-    },
-    {
-      pkg: 'std_msgs',
-      type: 'Float32MultiArray',
-      values: [
-        { layout: layout, data: [-10, 1, 2, 3, 8, 6, 0, -25] }, // Provide data via Array
-        {
-          layout: layout,
-          data: Float32Array.from([-10, 1, 2, 3, 8, 6, 0, -25]),
-        }, // Provide data via TypedArray
-      ],
-    },
-    {
-      pkg: 'std_msgs',
-      type: 'Float64MultiArray',
-      values: [
-        { layout: layout, data: [-10, 1, 2, 3, 8, 6, 0, -25] }, // Provide data via Array
-        {
-          layout: layout,
-          data: Float64Array.from([-10, 1, 2, 3, 8, 6, 0, -25]),
-        }, // Provide data via TypedArray
-      ],
-    },
-    /* eslint-enable camelcase */
-    /* eslint-enable key-spacing */
-    /* eslint-enable comma-spacing */
-  ].forEach((testData) => {
-    const topic = testData.topic || 'topic' + testData.type;
-    testData.values.forEach((v, i) => {
-      it('Test ' + testData.type + '.copy()' + ', case ' + i, function () {
-        const MessageType = rclnodejs.require(
-          testData.pkg + '/msg/' + testData.type
-        );
-        const msg1 = translator.toROSMessage(MessageType, v);
-        const msg2 = new MessageType();
-        msg2.copy(msg1);
+  // Unlike the old bindings, the new rosidl bindings does not use a message translator.
+  // Messages are just plain js objects until serialization, a side effect is that there
+  // is no "zero initialization" at message creation time. It causes this test to fail
+  // because it depends on being able to introspect the message by recursively calling
+  // each fields .hasMember function. This test is also not really needed as there is no
+  // logic in the .copy method in the new bindings.
+  if (!process.env.RCLNODEJS_USE_ROSIDL) {
+    [
+      {
+        pkg: 'std_msgs',
+        type: 'Int8MultiArray',
+        values: [
+          { layout: layout, data: [-10, 1, 2, 3, 8, 6, 0, -25] }, // Provide data via Array
+          {
+            layout: layout,
+            data: Int8Array.from([-10, 1, 2, 3, 8, 6, 0, -25]),
+          }, // Provide data via TypedArray
+        ],
+      },
+      {
+        pkg: 'std_msgs',
+        type: 'Int16MultiArray',
+        values: [
+          { layout: layout, data: [-10, 1, 2, 3, 8, 6, 0, -25] }, // Provide data via Array
+          {
+            layout: layout,
+            data: Int16Array.from([-10, 1, 2, 3, 8, 6, 0, -25]),
+          }, // Provide data via TypedArray
+        ],
+      },
+      {
+        pkg: 'std_msgs',
+        type: 'Int32MultiArray',
+        values: [
+          { layout: layout, data: [-10, 1, 2, 3, 8, 6, 0, -25] }, // Provide data via Array
+          {
+            layout: layout,
+            data: Int32Array.from([-10, 1, 2, 3, 8, 6, 0, -25]),
+          }, // Provide data via TypedArray
+        ],
+      },
+      {
+        pkg: 'std_msgs',
+        type: 'Int64MultiArray',
+        values: [
+          {
+            layout: layout,
+            data: [-111, 1, 2, 3, 8, 6, 0, -25, Number.MAX_SAFE_INTEGER],
+          }, // Provide data via Array
+        ],
+      },
+      {
+        pkg: 'std_msgs',
+        type: 'ByteMultiArray',
+        values: [
+          { layout: layout, data: [0, 1, 2, 3, 8, 6, 0, 255] }, // Provide data via Array
+          { layout: layout, data: Uint8Array.from([0, 1, 2, 3, 8, 6, 0, 255]) }, // Provide data via TypedArray
+        ],
+      },
+      {
+        pkg: 'std_msgs',
+        type: 'UInt8MultiArray',
+        values: [
+          { layout: layout, data: [0, 1, 2, 3, 8, 6, 0, 255] }, // Provide data via Array
+          { layout: layout, data: Uint8Array.from([0, 1, 2, 3, 8, 6, 0, 255]) }, // Provide data via TypedArray
+        ],
+      },
+      {
+        pkg: 'std_msgs',
+        type: 'UInt16MultiArray',
+        values: [
+          { layout: layout, data: [0, 1, 2, 3, 8, 6, 0, 255] }, // Provide data via Array
+          {
+            layout: layout,
+            data: Uint16Array.from([0, 1, 2, 3, 8, 6, 0, 255]),
+          }, // Provide data via TypedArray
+        ],
+      },
+      {
+        pkg: 'std_msgs',
+        type: 'UInt32MultiArray',
+        values: [
+          { layout: layout, data: [0, 1, 2, 3, 8, 6, 0, 255] }, // Provide data via Array
+          {
+            layout: layout,
+            data: Uint32Array.from([0, 1, 2, 3, 8, 6, 0, 255]),
+          }, // Provide data via TypedArray
+        ],
+      },
+      {
+        pkg: 'std_msgs',
+        type: 'UInt64MultiArray',
+        values: [
+          {
+            layout: layout,
+            data: [0, 1, 2, 3, 8, 6, 0, 255, Number.MAX_SAFE_INTEGER],
+          }, // Provide data via Array
+        ],
+      },
+      {
+        pkg: 'std_msgs',
+        type: 'Float32MultiArray',
+        values: [
+          { layout: layout, data: [-10, 1, 2, 3, 8, 6, 0, -25] }, // Provide data via Array
+          {
+            layout: layout,
+            data: Float32Array.from([-10, 1, 2, 3, 8, 6, 0, -25]),
+          }, // Provide data via TypedArray
+        ],
+      },
+      {
+        pkg: 'std_msgs',
+        type: 'Float64MultiArray',
+        values: [
+          { layout: layout, data: [-10, 1, 2, 3, 8, 6, 0, -25] }, // Provide data via Array
+          {
+            layout: layout,
+            data: Float64Array.from([-10, 1, 2, 3, 8, 6, 0, -25]),
+          }, // Provide data via TypedArray
+        ],
+      },
+      /* eslint-enable camelcase */
+      /* eslint-enable key-spacing */
+      /* eslint-enable comma-spacing */
+    ].forEach((testData) => {
+      const topic = testData.topic || 'topic' + testData.type;
+      testData.values.forEach((v, i) => {
+        it('Test ' + testData.type + '.copy()' + ', case ' + i, function () {
+          const MessageType = rclnodejs.require(
+            testData.pkg + '/msg/' + testData.type
+          );
+          const msg1 = translator.toROSMessage(MessageType, v);
+          const msg2 = new MessageType();
+          msg2.copy(msg1);
 
-        function checkMessage(msg) {
-          assert(typeof msg.layout === 'object');
+          function checkMessage(msg) {
+            assert(typeof msg.layout === 'object');
 
-          assert(Array.isArray(msg.layout.dim.data));
-          // First element
-          assert(typeof msg.layout.dim.data[0] === 'object');
-          assert(msg.layout.dim.data[0].label === v.layout.dim[0].label);
-          assert(msg.layout.dim.data[0].size === v.layout.dim[0].size);
-          assert(msg.layout.dim.data[0].stride === v.layout.dim[0].stride);
+            assert(Array.isArray(msg.layout.dim.data));
+            // First element
+            assert(typeof msg.layout.dim.data[0] === 'object');
+            assert(msg.layout.dim.data[0].label === v.layout.dim[0].label);
+            assert(msg.layout.dim.data[0].size === v.layout.dim[0].size);
+            assert(msg.layout.dim.data[0].stride === v.layout.dim[0].stride);
 
-          // Second element
-          assert(typeof msg.layout.dim.data[1] === 'object');
-          assert(msg.layout.dim.data[1].label === v.layout.dim[1].label);
-          assert(msg.layout.dim.data[1].size === v.layout.dim[1].size);
-          assert(msg.layout.dim.data[1].stride === v.layout.dim[1].stride);
+            // Second element
+            assert(typeof msg.layout.dim.data[1] === 'object');
+            assert(msg.layout.dim.data[1].label === v.layout.dim[1].label);
+            assert(msg.layout.dim.data[1].size === v.layout.dim[1].size);
+            assert(msg.layout.dim.data[1].stride === v.layout.dim[1].stride);
 
-          assert(msg.layout.data_offset === v.layout.data_offset);
+            assert(msg.layout.data_offset === v.layout.data_offset);
 
-          assert(msg.data);
-          if (isTypedArray(v.data)) {
-            assert.deepStrictEqual(msg.data, v.data);
-          } else {
-            assert.ok(deepEqual(msg.data, v.data));
+            assert(msg.data);
+            if (isTypedArray(v.data)) {
+              assert.deepStrictEqual(msg.data, v.data);
+            } else {
+              assert.ok(deepEqual(msg.data, v.data));
+            }
           }
-        }
 
-        checkMessage(msg1);
-        checkMessage(msg2);
+          checkMessage(msg1);
+          checkMessage(msg2);
 
-        const o = v.data[0];
-        assert(msg1.data[0] == o);
-        assert(msg2.data[0] == o);
+          const o = v.data[0];
+          assert(msg1.data[0] == o);
+          assert(msg2.data[0] == o);
 
-        const r = Math.round(Math.random() * 100);
-        msg1.data[0] = r;
+          const r = Math.round(Math.random() * 100);
+          msg1.data[0] = r;
 
-        assert(msg1.data[0] == r);
-        assert(msg2.data[0] == o);
+          assert(msg1.data[0] == r);
+          assert(msg2.data[0] == o);
+        });
       });
     });
-  });
+  }
 
   const uint8Data = arrayGen.generateValues(
     Array,
@@ -225,391 +248,396 @@ describe('rclnodejs message communication', function () {
     arrayGen.noRound
   );
 
-  [
-    /* eslint-disable camelcase */
-    /* eslint-disable key-spacing */
-    /* eslint-disable comma-spacing */
-    {
-      pkg: 'sensor_msgs',
-      type: 'PointCloud2',
-      arrayType: Uint8Array,
-      property: 'data',
-      values: [
-        {
-          header: { stamp: { sec: 11223, nanosec: 44556 }, frame_id: 'f001' },
-          height: 240,
-          width: 320,
-          fields: [],
-          is_bigendian: false,
-          point_step: 16,
-          row_step: 320 * 16,
-          data: uint8Data,
-          is_dense: false,
-        },
-        {
-          header: { stamp: { sec: 11223, nanosec: 44556 }, frame_id: 'f001' },
-          height: 240,
-          width: 320,
-          fields: [],
-          is_bigendian: false,
-          point_step: 16,
-          row_step: 320 * 16,
-          data: Uint8Array.from(uint8Data),
-          is_dense: false,
-        },
-      ],
-    },
-    {
-      pkg: 'sensor_msgs',
-      type: 'Image',
-      arrayType: Uint8Array,
-      property: 'data',
-      values: [
-        {
-          header: { stamp: { sec: 11223, nanosec: 44556 }, frame_id: 'f001' },
-          height: 240,
-          width: 320,
-          encoding: 'rgba',
-          is_bigendian: false,
-          step: 320 * 16,
-          is_dense: false,
-          data: uint8Data,
-        },
-        {
-          header: { stamp: { sec: 11223, nanosec: 44556 }, frame_id: 'f001' },
-          height: 240,
-          width: 320,
-          encoding: 'rgba',
-          is_bigendian: false,
-          step: 320 * 16,
-          is_dense: false,
-          data: Uint8Array.from(uint8Data),
-        },
-      ],
-    },
-    {
-      pkg: 'sensor_msgs',
-      type: 'CompressedImage',
-      arrayType: Uint8Array,
-      property: 'data',
-      values: [
-        {
-          header: { stamp: { sec: 11223, nanosec: 44556 }, frame_id: 'f001' },
-          format: 'jpeg',
-          data: uint8Data,
-        },
-        {
-          header: { stamp: { sec: 11223, nanosec: 44556 }, frame_id: 'f001' },
-          format: 'jpeg',
-          data: Uint8Array.from(uint8Data),
-        },
-      ],
-    },
-    {
-      pkg: 'sensor_msgs',
-      type: 'ChannelFloat32',
-      arrayType: Float32Array,
-      property: 'values',
-      values: [
-        { name: 'intensity', values: float32Data },
-        { name: 'intensity', values: Float32Array.from(float32Data) },
-        {
-          name: 'intensity',
-          values: Float32Array.from(Float32Array.from(float32Data)),
-        },
-      ],
-    },
-    {
-      pkg: 'sensor_msgs',
-      type: 'JointState',
-      arrayType: Float64Array,
-      property: 'position',
-      values: [
-        {
-          header: {
-            stamp: { sec: 123456, nanosec: 789 },
-            frame_id: 'main frame',
+  // similar to the above test, this requires introspection into the message by using the
+  // .hasMember method. The new bindings only support typed arrays so these tests are not
+  // really needed.
+  if (!process.env.RCLNODEJS_USE_ROSIDL) {
+    [
+      /* eslint-disable camelcase */
+      /* eslint-disable key-spacing */
+      /* eslint-disable comma-spacing */
+      {
+        pkg: 'sensor_msgs',
+        type: 'PointCloud2',
+        arrayType: Uint8Array,
+        property: 'data',
+        values: [
+          {
+            header: { stamp: { sec: 11223, nanosec: 44556 }, frame_id: 'f001' },
+            height: 240,
+            width: 320,
+            fields: [],
+            is_bigendian: false,
+            point_step: 16,
+            row_step: 320 * 16,
+            data: uint8Data,
+            is_dense: false,
           },
-          name: ['Tom', 'Jerry'],
-          velocity: [2, 3],
-          effort: [4, 5, 6],
-          position: float64Data,
-        },
-        {
-          header: {
-            stamp: { sec: 123456, nanosec: 789 },
-            frame_id: 'main frame',
+          {
+            header: { stamp: { sec: 11223, nanosec: 44556 }, frame_id: 'f001' },
+            height: 240,
+            width: 320,
+            fields: [],
+            is_bigendian: false,
+            point_step: 16,
+            row_step: 320 * 16,
+            data: Uint8Array.from(uint8Data),
+            is_dense: false,
           },
-          name: ['Tom', 'Jerry'],
-          velocity: [2, 3],
-          effort: [4, 5, 6],
-          position: Float64Array.from(float64Data),
-        },
-        {
-          header: {
-            stamp: { sec: 123456, nanosec: 789 },
-            frame_id: 'main frame',
+        ],
+      },
+      {
+        pkg: 'sensor_msgs',
+        type: 'Image',
+        arrayType: Uint8Array,
+        property: 'data',
+        values: [
+          {
+            header: { stamp: { sec: 11223, nanosec: 44556 }, frame_id: 'f001' },
+            height: 240,
+            width: 320,
+            encoding: 'rgba',
+            is_bigendian: false,
+            step: 320 * 16,
+            is_dense: false,
+            data: uint8Data,
           },
-          name: ['Tom', 'Jerry'],
-          velocity: [2, 3],
-          effort: [4, 5, 6],
-          position: Float64Array.from(Float64Array.from(float64Data)),
-        },
-      ],
-    },
-    /* eslint-enable camelcase */
-    /* eslint-enable key-spacing */
-    /* eslint-enable comma-spacing */
-  ].forEach((testData) => {
-    const topic = testData.topic || 'topic' + testData.type;
-    testData.values.forEach((v, i) => {
-      it(
-        'Make sure ' + testData.type + ' use TypedArray' + ', case ' + i,
-        function () {
-          const MessageType = rclnodejs.require(
-            testData.pkg + '/msg/' + testData.type
-          );
-          const msg = translator.toROSMessage(MessageType, v);
-          assert(isTypedArray(msg[testData.property]));
-          assert(msg[testData.property] instanceof testData.arrayType);
+          {
+            header: { stamp: { sec: 11223, nanosec: 44556 }, frame_id: 'f001' },
+            height: 240,
+            width: 320,
+            encoding: 'rgba',
+            is_bigendian: false,
+            step: 320 * 16,
+            is_dense: false,
+            data: Uint8Array.from(uint8Data),
+          },
+        ],
+      },
+      {
+        pkg: 'sensor_msgs',
+        type: 'CompressedImage',
+        arrayType: Uint8Array,
+        property: 'data',
+        values: [
+          {
+            header: { stamp: { sec: 11223, nanosec: 44556 }, frame_id: 'f001' },
+            format: 'jpeg',
+            data: uint8Data,
+          },
+          {
+            header: { stamp: { sec: 11223, nanosec: 44556 }, frame_id: 'f001' },
+            format: 'jpeg',
+            data: Uint8Array.from(uint8Data),
+          },
+        ],
+      },
+      {
+        pkg: 'sensor_msgs',
+        type: 'ChannelFloat32',
+        arrayType: Float32Array,
+        property: 'values',
+        values: [
+          { name: 'intensity', values: float32Data },
+          { name: 'intensity', values: Float32Array.from(float32Data) },
+          {
+            name: 'intensity',
+            values: Float32Array.from(Float32Array.from(float32Data)),
+          },
+        ],
+      },
+      {
+        pkg: 'sensor_msgs',
+        type: 'JointState',
+        arrayType: Float64Array,
+        property: 'position',
+        values: [
+          {
+            header: {
+              stamp: { sec: 123456, nanosec: 789 },
+              frame_id: 'main frame',
+            },
+            name: ['Tom', 'Jerry'],
+            velocity: [2, 3],
+            effort: [4, 5, 6],
+            position: float64Data,
+          },
+          {
+            header: {
+              stamp: { sec: 123456, nanosec: 789 },
+              frame_id: 'main frame',
+            },
+            name: ['Tom', 'Jerry'],
+            velocity: [2, 3],
+            effort: [4, 5, 6],
+            position: Float64Array.from(float64Data),
+          },
+          {
+            header: {
+              stamp: { sec: 123456, nanosec: 789 },
+              frame_id: 'main frame',
+            },
+            name: ['Tom', 'Jerry'],
+            velocity: [2, 3],
+            effort: [4, 5, 6],
+            position: Float64Array.from(Float64Array.from(float64Data)),
+          },
+        ],
+      },
+      /* eslint-enable camelcase */
+      /* eslint-enable key-spacing */
+      /* eslint-enable comma-spacing */
+    ].forEach((testData) => {
+      const topic = testData.topic || 'topic' + testData.type;
+      testData.values.forEach((v, i) => {
+        it(
+          'Make sure ' + testData.type + ' use TypedArray' + ', case ' + i,
+          function () {
+            const MessageType = rclnodejs.require(
+              testData.pkg + '/msg/' + testData.type
+            );
+            const msg = translator.toROSMessage(MessageType, v);
+            assert(isTypedArray(msg[testData.property]));
+            assert(msg[testData.property] instanceof testData.arrayType);
 
-          msg[testData.property] = v[testData.property];
-          assert(isTypedArray(msg[testData.property]));
-          assert(msg[testData.property] instanceof testData.arrayType);
+            msg[testData.property] = v[testData.property];
+            assert(isTypedArray(msg[testData.property]));
+            assert(msg[testData.property] instanceof testData.arrayType);
 
-          const msg2 = new MessageType();
-          assert(isTypedArray(msg2[testData.property]));
-          assert(msg2[testData.property] instanceof testData.arrayType);
-        }
-      );
+            const msg2 = new MessageType();
+            assert(isTypedArray(msg2[testData.property]));
+            assert(msg2[testData.property] instanceof testData.arrayType);
+          }
+        );
+      });
     });
-  });
 
-  const arrayLength = 1024;
-  [
-    /* eslint-disable max-len */
-    {
-      type: 'ByteMultiArray',
-      arrayType: Uint8Array,
-      values: arrayGen.generateValues(
-        Uint8Array,
-        arrayLength,
-        256,
-        arrayGen.positive,
-        Math.floor
-      ),
-    },
-    {
-      type: 'Float32MultiArray',
-      arrayType: Float32Array,
-      values: arrayGen.generateValues(
-        Float32Array,
-        arrayLength,
-        10000,
-        arrayGen.negative,
-        arrayGen.noRound
-      ),
-    },
-    {
-      type: 'Float64MultiArray',
-      arrayType: Float64Array,
-      values: arrayGen.generateValues(
-        Float64Array,
-        arrayLength,
-        10000,
-        arrayGen.negative,
-        arrayGen.noRound
-      ),
-    },
-    {
-      type: 'Int8MultiArray',
-      arrayType: Int8Array,
-      values: arrayGen.generateValues(
-        Int8Array,
-        arrayLength,
-        128,
-        arrayGen.negative,
-        Math.floor
-      ),
-    },
-    {
-      type: 'Int16MultiArray',
-      arrayType: Int16Array,
-      values: arrayGen.generateValues(
-        Int16Array,
-        arrayLength,
-        32768,
-        arrayGen.negative,
-        Math.floor
-      ),
-    },
-    {
-      type: 'Int32MultiArray',
-      arrayType: Int32Array,
-      values: arrayGen.generateValues(
-        Int32Array,
-        arrayLength,
-        2147483648,
-        arrayGen.negative,
-        Math.floor
-      ),
-    },
-    {
-      type: 'UInt8MultiArray',
-      arrayType: Uint8Array,
-      values: arrayGen.generateValues(
-        Uint8Array,
-        arrayLength,
-        256,
-        arrayGen.positive,
-        Math.floor
-      ),
-    },
-    {
-      type: 'UInt16MultiArray',
-      arrayType: Uint16Array,
-      values: arrayGen.generateValues(
-        Uint16Array,
-        arrayLength,
-        65536,
-        arrayGen.positive,
-        Math.floor
-      ),
-    },
-    {
-      type: 'UInt32MultiArray',
-      arrayType: Uint32Array,
-      values: arrayGen.generateValues(
-        Uint32Array,
-        arrayLength,
-        4294967296,
-        arrayGen.positive,
-        Math.floor
-      ),
-    },
+    const arrayLength = 1024;
+    [
+      /* eslint-disable max-len */
+      {
+        type: 'ByteMultiArray',
+        arrayType: Uint8Array,
+        values: arrayGen.generateValues(
+          Uint8Array,
+          arrayLength,
+          256,
+          arrayGen.positive,
+          Math.floor
+        ),
+      },
+      {
+        type: 'Float32MultiArray',
+        arrayType: Float32Array,
+        values: arrayGen.generateValues(
+          Float32Array,
+          arrayLength,
+          10000,
+          arrayGen.negative,
+          arrayGen.noRound
+        ),
+      },
+      {
+        type: 'Float64MultiArray',
+        arrayType: Float64Array,
+        values: arrayGen.generateValues(
+          Float64Array,
+          arrayLength,
+          10000,
+          arrayGen.negative,
+          arrayGen.noRound
+        ),
+      },
+      {
+        type: 'Int8MultiArray',
+        arrayType: Int8Array,
+        values: arrayGen.generateValues(
+          Int8Array,
+          arrayLength,
+          128,
+          arrayGen.negative,
+          Math.floor
+        ),
+      },
+      {
+        type: 'Int16MultiArray',
+        arrayType: Int16Array,
+        values: arrayGen.generateValues(
+          Int16Array,
+          arrayLength,
+          32768,
+          arrayGen.negative,
+          Math.floor
+        ),
+      },
+      {
+        type: 'Int32MultiArray',
+        arrayType: Int32Array,
+        values: arrayGen.generateValues(
+          Int32Array,
+          arrayLength,
+          2147483648,
+          arrayGen.negative,
+          Math.floor
+        ),
+      },
+      {
+        type: 'UInt8MultiArray',
+        arrayType: Uint8Array,
+        values: arrayGen.generateValues(
+          Uint8Array,
+          arrayLength,
+          256,
+          arrayGen.positive,
+          Math.floor
+        ),
+      },
+      {
+        type: 'UInt16MultiArray',
+        arrayType: Uint16Array,
+        values: arrayGen.generateValues(
+          Uint16Array,
+          arrayLength,
+          65536,
+          arrayGen.positive,
+          Math.floor
+        ),
+      },
+      {
+        type: 'UInt32MultiArray',
+        arrayType: Uint32Array,
+        values: arrayGen.generateValues(
+          Uint32Array,
+          arrayLength,
+          4294967296,
+          arrayGen.positive,
+          Math.floor
+        ),
+      },
 
-    {
-      type: 'ByteMultiArray',
-      arrayType: Uint8Array,
-      values: arrayGen.generateValues(
-        Array,
-        arrayLength,
-        256,
-        arrayGen.positive,
-        Math.floor
-      ),
-    },
-    {
-      type: 'Float32MultiArray',
-      arrayType: Float32Array,
-      values: arrayGen.generateValues(
-        Array,
-        arrayLength,
-        10000,
-        arrayGen.negative,
-        arrayGen.noRound
-      ),
-    },
-    {
-      type: 'Float64MultiArray',
-      arrayType: Float64Array,
-      values: arrayGen.generateValues(
-        Array,
-        arrayLength,
-        10000,
-        arrayGen.negative,
-        arrayGen.noRound
-      ),
-    },
-    {
-      type: 'Int8MultiArray',
-      arrayType: Int8Array,
-      values: arrayGen.generateValues(
-        Array,
-        arrayLength,
-        128,
-        arrayGen.negative,
-        Math.floor
-      ),
-    },
-    {
-      type: 'Int16MultiArray',
-      arrayType: Int16Array,
-      values: arrayGen.generateValues(
-        Array,
-        arrayLength,
-        32768,
-        arrayGen.negative,
-        Math.floor
-      ),
-    },
-    {
-      type: 'Int32MultiArray',
-      arrayType: Int32Array,
-      values: arrayGen.generateValues(
-        Array,
-        arrayLength,
-        2147483648,
-        arrayGen.negative,
-        Math.floor
-      ),
-    },
-    {
-      type: 'UInt8MultiArray',
-      arrayType: Uint8Array,
-      values: arrayGen.generateValues(
-        Array,
-        arrayLength,
-        256,
-        arrayGen.positive,
-        Math.floor
-      ),
-    },
-    {
-      type: 'UInt16MultiArray',
-      arrayType: Uint16Array,
-      values: arrayGen.generateValues(
-        Array,
-        arrayLength,
-        65536,
-        arrayGen.positive,
-        Math.floor
-      ),
-    },
-    {
-      type: 'UInt32MultiArray',
-      arrayType: Uint32Array,
-      values: arrayGen.generateValues(
-        Array,
-        arrayLength,
-        4294967296,
-        arrayGen.positive,
-        Math.floor
-      ),
-    },
-    /* eslint-enable max-len */
-  ].forEach((testData) => {
-    const topic = testData.topic || 'topic' + testData.type;
-    it('Make sure ' + testData.type + ' use TypedArray', function () {
-      const MessageType = rclnodejs.require('std_msgs/msg/' + testData.type);
-      const msg = translator.toROSMessage(MessageType, {
-        layout: {
-          dim: [{ label: 'length', size: 0, stride: 0 }],
-          // eslint-disable-next-line
-          data_offset: 0,
-        },
-        data: testData.values,
-      });
-      assert(isTypedArray(msg.data));
-      assert(msg.data instanceof testData.arrayType);
+      {
+        type: 'ByteMultiArray',
+        arrayType: Uint8Array,
+        values: arrayGen.generateValues(
+          Array,
+          arrayLength,
+          256,
+          arrayGen.positive,
+          Math.floor
+        ),
+      },
+      {
+        type: 'Float32MultiArray',
+        arrayType: Float32Array,
+        values: arrayGen.generateValues(
+          Array,
+          arrayLength,
+          10000,
+          arrayGen.negative,
+          arrayGen.noRound
+        ),
+      },
+      {
+        type: 'Float64MultiArray',
+        arrayType: Float64Array,
+        values: arrayGen.generateValues(
+          Array,
+          arrayLength,
+          10000,
+          arrayGen.negative,
+          arrayGen.noRound
+        ),
+      },
+      {
+        type: 'Int8MultiArray',
+        arrayType: Int8Array,
+        values: arrayGen.generateValues(
+          Array,
+          arrayLength,
+          128,
+          arrayGen.negative,
+          Math.floor
+        ),
+      },
+      {
+        type: 'Int16MultiArray',
+        arrayType: Int16Array,
+        values: arrayGen.generateValues(
+          Array,
+          arrayLength,
+          32768,
+          arrayGen.negative,
+          Math.floor
+        ),
+      },
+      {
+        type: 'Int32MultiArray',
+        arrayType: Int32Array,
+        values: arrayGen.generateValues(
+          Array,
+          arrayLength,
+          2147483648,
+          arrayGen.negative,
+          Math.floor
+        ),
+      },
+      {
+        type: 'UInt8MultiArray',
+        arrayType: Uint8Array,
+        values: arrayGen.generateValues(
+          Array,
+          arrayLength,
+          256,
+          arrayGen.positive,
+          Math.floor
+        ),
+      },
+      {
+        type: 'UInt16MultiArray',
+        arrayType: Uint16Array,
+        values: arrayGen.generateValues(
+          Array,
+          arrayLength,
+          65536,
+          arrayGen.positive,
+          Math.floor
+        ),
+      },
+      {
+        type: 'UInt32MultiArray',
+        arrayType: Uint32Array,
+        values: arrayGen.generateValues(
+          Array,
+          arrayLength,
+          4294967296,
+          arrayGen.positive,
+          Math.floor
+        ),
+      },
+      /* eslint-enable max-len */
+    ].forEach((testData) => {
+      const topic = testData.topic || 'topic' + testData.type;
+      it('Make sure ' + testData.type + ' use TypedArray', function () {
+        const MessageType = rclnodejs.require('std_msgs/msg/' + testData.type);
+        const msg = translator.toROSMessage(MessageType, {
+          layout: {
+            dim: [{ label: 'length', size: 0, stride: 0 }],
+            // eslint-disable-next-line
+            data_offset: 0,
+          },
+          data: testData.values,
+        });
+        assert(isTypedArray(msg.data));
+        assert(msg.data instanceof testData.arrayType);
 
-      msg.data = testData.values;
-      assert(isTypedArray(msg.data));
-      assert(msg.data instanceof testData.arrayType);
+        msg.data = testData.values;
+        assert(isTypedArray(msg.data));
+        assert(msg.data instanceof testData.arrayType);
 
-      const msg2 = new MessageType();
-      assert(isTypedArray(msg2.data));
-      assert(msg2.data instanceof testData.arrayType);
+        const msg2 = new MessageType();
+        assert(isTypedArray(msg2.data));
+        assert(msg2.data instanceof testData.arrayType);
+      });
     });
-  });
+  }
 });
diff --git a/test/test-compound-msg-type-check.js b/test/test-compound-msg-type-check.js
index 721408dc..5db72ab1 100644
--- a/test/test-compound-msg-type-check.js
+++ b/test/test-compound-msg-type-check.js
@@ -40,17 +40,20 @@ describe('Compound types', function () {
     assert.deepStrictEqual(typeof msg.a, 'undefined');
   });
 
-  it('Array', function () {
-    const Byte = rclnodejs.require('std_msgs').msg.Byte;
-    const ByteArray = Byte.ArrayType;
-    let msg = new ByteArray(3);
-    msg.fill([1, 2, 3]);
+  // there is no special array wrappers in the new bindings
+  if (!process.env.RCLNODEJS_USE_ROSIDL) {
+    it('Array', function () {
+      const Byte = rclnodejs.require('std_msgs').msg.Byte;
+      const ByteArray = Byte.ArrayType;
+      let msg = new ByteArray(3);
+      msg.fill([1, 2, 3]);
 
-    assert.deepStrictEqual(msg.data.length, 3);
-    assert.deepStrictEqual(msg.data[0], 1);
-    assert.deepStrictEqual(msg.data[1], 2);
-    assert.deepStrictEqual(msg.data[2], 3);
-  });
+      assert.deepStrictEqual(msg.data.length, 3);
+      assert.deepStrictEqual(msg.data[0], 1);
+      assert.deepStrictEqual(msg.data[1], 2);
+      assert.deepStrictEqual(msg.data[2], 3);
+    });
+  }
 
   it('Object with Header', function () {
     const Header = rclnodejs.require('std_msgs').msg.Header;
@@ -59,7 +62,12 @@ describe('Compound types', function () {
     assert.ok('stamp' in header);
     assert.ok('frame_id' in header);
 
-    assert.deepStrictEqual(typeof header.stamp, 'object');
+    // the new bindings doesn't populate fields on creation
+    if (process.env.RCLNODEJS_USE_ROSIDL) {
+      assert.deepStrictEqual(typeof header.stamp, 'undefined');
+    } else {
+      assert.deepStrictEqual(typeof header.stamp, 'object');
+    }
     assert.deepStrictEqual(typeof header.frame_id, 'undefined');
   });
 
diff --git a/test/test-disable-typedarray.js b/test/test-disable-typedarray.js
index 6ac3deae..edb03946 100644
--- a/test/test-disable-typedarray.js
+++ b/test/test-disable-typedarray.js
@@ -21,7 +21,7 @@ const rclnodejs = require('../index.js');
 /* eslint-disable key-spacing */
 /* eslint-disable comma-spacing */
 // rosidl generator only supports typed array
-if (process.env.RCLNODEJS_USE_ROSIDL) {
+if (!process.env.RCLNODEJS_USE_ROSIDL) {
   describe('rclnodejs message communication', function () {
     this.timeout(60 * 1000);
 

From 3a807b7408c2a83d0381f2697a9ef2a083dc7d26 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 8 Jan 2021 12:43:43 +0800
Subject: [PATCH 48/64] generate messages for actions

---
 rosidl_gen/idl_generator.js            | 124 ++++++++++++++++++++++---
 rosidl_gen/templates/messageRosidl.dot |  11 +++
 test/test-message-object.js            |  22 ++++-
 3 files changed, 142 insertions(+), 15 deletions(-)

diff --git a/rosidl_gen/idl_generator.js b/rosidl_gen/idl_generator.js
index ae315329..9477c95c 100644
--- a/rosidl_gen/idl_generator.js
+++ b/rosidl_gen/idl_generator.js
@@ -201,10 +201,10 @@ function pascalToSnakeCase(s) {
 }
 
 function getRosHeaderField(messageInfo) {
-  if (isServiceMessage(messageInfo)) {
+  if (isInternalMessage(messageInfo)) {
     const interfaceName = messageInfo.interfaceName.slice(
       0,
-      messageInfo.interfaceName.lastIndexOf('_')
+      messageInfo.interfaceName.indexOf('_')
     );
     return `${messageInfo.pkgName}/${messageInfo.subFolder}/${pascalToSnakeCase(
       interfaceName
@@ -313,11 +313,8 @@ function isInternalField(field) {
   return field.name.startsWith('_');
 }
 
-function isServiceMessage(messageInfo) {
-  return (
-    messageInfo.interfaceName.endsWith('_Request') ||
-    messageInfo.interfaceName.endsWith('_Response')
-  );
+function isInternalMessage(messageInfo) {
+  return messageInfo.interfaceName.indexOf('_') !== -1;
 }
 
 // All messages are combined in one cpp file to improve compile time.
@@ -335,13 +332,29 @@ async function generateCppDefinitions(pkgName, pkgInfo, rosIdlDb, options) {
     return getStructType(messageInfo);
   };
 
-  const messages = await Promise.all(
-    pkgInfo.messages.map(async (messageInfo) => ({
+  const messages = await Promise.all([
+    ...pkgInfo.messages.map(async (messageInfo) => ({
       info: messageInfo,
       spec: await rosIdlDb.getMessageSpec(messageInfo),
       structType: getStructType(messageInfo),
-    }))
-  );
+    })),
+    ...(
+      await Promise.all(
+        pkgInfo.actions.map(async (actionInfo) => {
+          const msgInfosAndSpecs = await getActionMessageInfosAndSpecs(
+            actionInfo
+          );
+          return Object.values(msgInfosAndSpecs).map(
+            async ({ info, spec }) => ({
+              info: info,
+              spec: spec,
+              structType: getStructType(info),
+            })
+          );
+        })
+      )
+    ).flat(),
+  ]);
 
   const includeHeadersSet = new Set();
   messages.forEach(({ info }) => {
@@ -386,6 +399,95 @@ async function generateCppDefinitions(pkgName, pkgInfo, rosIdlDb, options) {
   await fs.writeFile(path.join(outputDir, 'definitions.hpp'), header);
 }
 
+async function getActionMessageInfosAndSpecs(actionInfo) {
+  const spec = await parser.parseActionFile(
+    actionInfo.pkgName,
+    actionInfo.filePath
+  );
+
+  return {
+    goal: {
+      info: {
+        pkgName: actionInfo.pkgName,
+        subFolder: actionInfo.subFolder,
+        interfaceName: `${actionInfo.interfaceName}_Goal`,
+      },
+      spec: spec.goal,
+    },
+    result: {
+      info: {
+        pkgName: actionInfo.pkgName,
+        subFolder: actionInfo.subFolder,
+        interfaceName: `${actionInfo.interfaceName}_Result`,
+      },
+      spec: spec.result,
+    },
+    feedback: {
+      info: {
+        pkgName: actionInfo.pkgName,
+        subFolder: actionInfo.subFolder,
+        interfaceName: `${actionInfo.interfaceName}_Feedback`,
+      },
+      spec: spec.feedback,
+    },
+    sendGoalRequest: {
+      info: {
+        pkgName: actionInfo.pkgName,
+        subFolder: actionInfo.subFolder,
+        interfaceName: `${actionInfo.interfaceName}_SendGoal_Request`,
+      },
+      spec: actionMsgs.createSendGoalRequestSpec(
+        actionInfo.pkgName,
+        actionInfo.interfaceName
+      ),
+    },
+    sendGoalResponse: {
+      info: {
+        pkgName: actionInfo.pkgName,
+        subFolder: actionInfo.subFolder,
+        interfaceName: `${actionInfo.interfaceName}_SendGoal_Response`,
+      },
+      spec: actionMsgs.createSendGoalResponseSpec(
+        actionInfo.pkgName,
+        actionInfo.interfaceName
+      ),
+    },
+    getResultRequest: {
+      info: {
+        pkgName: actionInfo.pkgName,
+        subFolder: actionInfo.subFolder,
+        interfaceName: `${actionInfo.interfaceName}_GetResult_Request`,
+      },
+      spec: actionMsgs.createGetResultRequestSpec(
+        actionInfo.pkgName,
+        actionInfo.interfaceName
+      ),
+    },
+    getResultResponse: {
+      info: {
+        pkgName: actionInfo.pkgName,
+        subFolder: actionInfo.subFolder,
+        interfaceName: `${actionInfo.interfaceName}_GetResult_Response`,
+      },
+      spec: actionMsgs.createGetResultResponseSpec(
+        actionInfo.pkgName,
+        actionInfo.interfaceName
+      ),
+    },
+    feedbackMessage: {
+      info: {
+        pkgName: actionInfo.pkgName,
+        subFolder: actionInfo.subFolder,
+        interfaceName: `${actionInfo.interfaceName}_FeedbackMessage`,
+      },
+      spec: actionMsgs.createFeedbackMessageSpec(
+        actionInfo.pkgName,
+        actionInfo.interfaceName
+      ),
+    },
+  };
+}
+
 async function generateActionJSStruct(actionInfo, dir, options) {
   const spec = await parser.parseActionFile(
     actionInfo.pkgName,
diff --git a/rosidl_gen/templates/messageRosidl.dot b/rosidl_gen/templates/messageRosidl.dot
index 18cc65fe..c5eea10a 100644
--- a/rosidl_gen/templates/messageRosidl.dot
+++ b/rosidl_gen/templates/messageRosidl.dot
@@ -251,6 +251,17 @@ class {{=objectWrapper}} {
   }
 }
 
+{{? it.spec.constants != undefined && it.spec.constants.length}}
+// Define constants ({{=it.spec.constants.length}} in total)
+{{~ it.spec.constants :c}}
+{{? c.type === "string"}}
+Object.defineProperty({{=objectWrapper}}, "{{=c.name}}", {value: "{{=c.value}}", writable: false, enumerable: true, configurable: true});
+{{?? true}}
+Object.defineProperty({{=objectWrapper}}, "{{=c.name}}", {value: {{=c.value}}, writable: false, enumerable: true, configurable: true});
+{{?}}
+{{~}}
+{{?}}
+
 module.exports = {{=objectWrapper}};
 
 /*
diff --git a/test/test-message-object.js b/test/test-message-object.js
index b0efc449..1a762b58 100644
--- a/test/test-message-object.js
+++ b/test/test-message-object.js
@@ -38,6 +38,10 @@ describe('Rclnodejs createMessage() testing', function () {
     let promises = [];
     installedPackagesRoot.forEach((path) => {
       let promise = packages.findPackagesInDirectory(path).then((pkgs) => {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
+          // this packages contains invalid messages
+          pkgs.delete('libstatistics_collector');
+        }
         pkgs.forEach((pkg) => {
           pkg.messages.forEach((info) => {
             const s =
@@ -179,6 +183,10 @@ describe('Rclnodejs createMessageObject() testing', function () {
     let promises = [];
     installedPackagesRoot.forEach((path) => {
       let promise = packages.findPackagesInDirectory(path).then((pkgs) => {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
+          // this packages contains invalid messages
+          pkgs.delete('libstatistics_collector');
+        }
         pkgs.forEach((pkg) => {
           pkg.messages.forEach((info) => {
             const s =
@@ -201,8 +209,11 @@ describe('Rclnodejs createMessageObject() testing', function () {
   it('create by string', function () {
     const s = rclnodejs.createMessageObject('std_msgs/msg/String');
 
-    assert('data' in s);
-    assert(!s.data);
+    // fields are not prepopulated in the new bindings
+    if (!process.env.RCLNODEJS_USE_ROSIDL) {
+      assert('data' in s);
+      assert(!s.data);
+    }
     s.data = 'this is fun';
     assert.equal(typeof s.data, 'string');
     assert.equal(s.data, 'this is fun');
@@ -215,8 +226,11 @@ describe('Rclnodejs createMessageObject() testing', function () {
       name: 'String',
     });
 
-    assert('data' in s);
-    assert(!s.data);
+    // fields are not prepopulated in the new bindings
+    if (!process.env.RCLNODEJS_USE_ROSIDL) {
+      assert('data' in s);
+      assert(!s.data);
+    }
     s.data = 'this is fun';
     assert.equal(typeof s.data, 'string');
     assert.equal(s.data, 'this is fun');

From 046911639f522c50f8d4940633807b2da1586c8a Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 8 Jan 2021 13:04:38 +0800
Subject: [PATCH 49/64] revert change to skip zero initialization

---
 rosidl_gen/templates/messageRosidl.dot    |  2 +-
 test/test-array-data.js                   |  8 ++----
 test/test-compound-msg-type-check.js      |  8 +++---
 test/test-message-object.js               | 14 +++-------
 test/test-non-primitive-msg-type-check.js | 33 ++++++++++++++---------
 5 files changed, 32 insertions(+), 33 deletions(-)

diff --git a/rosidl_gen/templates/messageRosidl.dot b/rosidl_gen/templates/messageRosidl.dot
index c5eea10a..cccc5fd4 100644
--- a/rosidl_gen/templates/messageRosidl.dot
+++ b/rosidl_gen/templates/messageRosidl.dot
@@ -148,7 +148,7 @@ class {{=objectWrapper}} {
     this._rawRos = undefined;
     if (other === undefined) {
       this._rawRos = {{=objectWrapper}}._createRosMessage();
-      this._proxyObj = {};
+      this._proxyObj = {{=objectWrapper}}._toJsObject(this._rawRos);
     } else if (other instanceof {{=objectWrapper}}) {
       this._proxyObj = other._proxyObj;
     } else {
diff --git a/test/test-array-data.js b/test/test-array-data.js
index df481d87..20a7c55b 100644
--- a/test/test-array-data.js
+++ b/test/test-array-data.js
@@ -48,12 +48,8 @@ describe('rclnodejs message communication', function () {
     data_offset: 0,
   };
 
-  // Unlike the old bindings, the new rosidl bindings does not use a message translator.
-  // Messages are just plain js objects until serialization, a side effect is that there
-  // is no "zero initialization" at message creation time. It causes this test to fail
-  // because it depends on being able to introspect the message by recursively calling
-  // each fields .hasMember function. This test is also not really needed as there is no
-  // logic in the .copy method in the new bindings.
+  // The new bindings initialize nested message as plain js objects instead of the wrappers.
+  // As a result, they don't contain .hasMember methods that this test needs.
   if (!process.env.RCLNODEJS_USE_ROSIDL) {
     [
       {
diff --git a/test/test-compound-msg-type-check.js b/test/test-compound-msg-type-check.js
index 5db72ab1..4cb0fd40 100644
--- a/test/test-compound-msg-type-check.js
+++ b/test/test-compound-msg-type-check.js
@@ -62,13 +62,13 @@ describe('Compound types', function () {
     assert.ok('stamp' in header);
     assert.ok('frame_id' in header);
 
-    // the new bindings doesn't populate fields on creation
+    assert.deepStrictEqual(typeof header.stamp, 'object');
+    // the new bindings correctly initialize strings as an empty string instead of undefined.
     if (process.env.RCLNODEJS_USE_ROSIDL) {
-      assert.deepStrictEqual(typeof header.stamp, 'undefined');
+      assert.deepStrictEqual(typeof header.frame_id, 'string');
     } else {
-      assert.deepStrictEqual(typeof header.stamp, 'object');
+      assert.deepStrictEqual(typeof header.frame_id, 'undefined');
     }
-    assert.deepStrictEqual(typeof header.frame_id, 'undefined');
   });
 
   it('Complex object', function () {
diff --git a/test/test-message-object.js b/test/test-message-object.js
index 1a762b58..d946d2c3 100644
--- a/test/test-message-object.js
+++ b/test/test-message-object.js
@@ -209,11 +209,8 @@ describe('Rclnodejs createMessageObject() testing', function () {
   it('create by string', function () {
     const s = rclnodejs.createMessageObject('std_msgs/msg/String');
 
-    // fields are not prepopulated in the new bindings
-    if (!process.env.RCLNODEJS_USE_ROSIDL) {
-      assert('data' in s);
-      assert(!s.data);
-    }
+    assert('data' in s);
+    assert(!s.data);
     s.data = 'this is fun';
     assert.equal(typeof s.data, 'string');
     assert.equal(s.data, 'this is fun');
@@ -226,11 +223,8 @@ describe('Rclnodejs createMessageObject() testing', function () {
       name: 'String',
     });
 
-    // fields are not prepopulated in the new bindings
-    if (!process.env.RCLNODEJS_USE_ROSIDL) {
-      assert('data' in s);
-      assert(!s.data);
-    }
+    assert('data' in s);
+    assert(!s.data);
     s.data = 'this is fun';
     assert.equal(typeof s.data, 'string');
     assert.equal(s.data, 'this is fun');
diff --git a/test/test-non-primitive-msg-type-check.js b/test/test-non-primitive-msg-type-check.js
index f459b214..1136545b 100644
--- a/test/test-non-primitive-msg-type-check.js
+++ b/test/test-non-primitive-msg-type-check.js
@@ -60,18 +60,27 @@ describe('Rclnodejs non primitive message type testing', function () {
     assert.deepStrictEqual(44556, jointStateClone.header.stamp.nanosec);
     assert.deepStrictEqual('1234567x', jointStateClone.header.frame_id);
     assert.deepStrictEqual(['Willy', 'Tacky'], jointStateClone.name);
-    assert.deepStrictEqual(
-      Float64Array.from([1, 7, 3, 4, 2, 2, 8]),
-      jointStateClone.position
-    );
-    assert.deepStrictEqual(
-      Float64Array.from([8, 9, 6, 4]),
-      jointStateClone.velocity
-    );
-    assert.deepStrictEqual(
-      Float64Array.from([1, 0, 2, 6, 7]),
-      jointStateClone.effort
-    );
+
+    // new bindings does not do conversion until serialization so it doesn't automatically
+    // converts number arrays to typed arrays on assignment.
+    if (process.env.RCLNODEJS_USE_ROSIDL) {
+      assert.deepStrictEqual([1, 7, 3, 4, 2, 2, 8], jointStateClone.position);
+      assert.deepStrictEqual([8, 9, 6, 4], jointStateClone.velocity);
+      assert.deepStrictEqual([1, 0, 2, 6, 7], jointStateClone.effort);
+    } else {
+      assert.deepStrictEqual(
+        Float64Array.from([1, 7, 3, 4, 2, 2, 8]),
+        jointStateClone.position
+      );
+      assert.deepStrictEqual(
+        Float64Array.from([8, 9, 6, 4]),
+        jointStateClone.velocity
+      );
+      assert.deepStrictEqual(
+        Float64Array.from([1, 0, 2, 6, 7]),
+        jointStateClone.effort
+      );
+    }
   });
 
   it('geometry_msgs/msg/Transform checking', function () {

From 123a0fad5b16af785ec1b1f03b9d9b8125af0d2b Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 8 Jan 2021 13:13:56 +0800
Subject: [PATCH 50/64] pass non-primitive-msg-type test

---
 test/test-non-primitive-msg-type-check.js | 139 ++++++++++++----------
 1 file changed, 76 insertions(+), 63 deletions(-)

diff --git a/test/test-non-primitive-msg-type-check.js b/test/test-non-primitive-msg-type-check.js
index 1136545b..1688891a 100644
--- a/test/test-non-primitive-msg-type-check.js
+++ b/test/test-non-primitive-msg-type-check.js
@@ -105,67 +105,80 @@ describe('Rclnodejs non primitive message type testing', function () {
     assert.deepStrictEqual(1.0, transformClone.rotation.w);
   });
 
-  it('std_msgs/msg/Float32MultiArray checking', function () {
-    const Float32MultiArray = rclnodejs.require(
-      'std_msgs/msg/Float32MultiArray'
-    );
-    const MultiArrayDimension = rclnodejs.require(
-      'std_msgs/msg/MultiArrayDimension'
-    );
-
-    let float32MultiArray = new Float32MultiArray();
-    let heightDimension = new MultiArrayDimension();
-    heightDimension.label = 'height';
-    heightDimension.size = 480;
-    heightDimension.stride = 921600;
-
-    let weightDimension = new MultiArrayDimension();
-    weightDimension.label = 'weight';
-    weightDimension.size = 640;
-    weightDimension.stride = 1920;
-
-    let channelDimension = new MultiArrayDimension();
-    channelDimension.label = 'channel';
-    channelDimension.size = 3;
-    channelDimension.stride = 8;
-
-    float32MultiArray.layout.dim.fill([
-      heightDimension,
-      weightDimension,
-      channelDimension,
-    ]);
-    float32MultiArray.layout.data_offset = 1024;
-    float32MultiArray.data = [1.0, 2.0, 3.0, 8.5, 6.75, 0.5, -0.25];
-
-    let float32MultiArrayClone = new Float32MultiArray(float32MultiArray);
-    assert.deepStrictEqual(
-      'height',
-      float32MultiArrayClone.layout.dim.data[0].label
-    );
-    assert.deepStrictEqual(480, float32MultiArrayClone.layout.dim.data[0].size);
-    assert.deepStrictEqual(
-      921600,
-      float32MultiArrayClone.layout.dim.data[0].stride
-    );
-    assert.deepStrictEqual(
-      'weight',
-      float32MultiArrayClone.layout.dim.data[1].label
-    );
-    assert.deepStrictEqual(640, float32MultiArrayClone.layout.dim.data[1].size);
-    assert.deepStrictEqual(
-      1920,
-      float32MultiArrayClone.layout.dim.data[1].stride
-    );
-    assert.deepStrictEqual(
-      'channel',
-      float32MultiArrayClone.layout.dim.data[2].label
-    );
-    assert.deepStrictEqual(3, float32MultiArrayClone.layout.dim.data[2].size);
-    assert.deepStrictEqual(8, float32MultiArrayClone.layout.dim.data[2].stride);
-    assert.deepStrictEqual(1024, float32MultiArrayClone.layout.data_offset);
-    assert.deepStrictEqual(
-      Float32Array.from([1.0, 2.0, 3.0, 8.5, 6.75, 0.5, -0.25]),
-      float32MultiArrayClone.data
-    );
-  });
+  // not sure how this test works, `Float32MultiArray.layout.dim.data` is not a valid
+  // field, `MultiArrayDimensions` does not have a `data` field.
+  if (!process.env.RCLNODEJS_USE_ROSIDL) {
+    it('std_msgs/msg/Float32MultiArray checking', function () {
+      const Float32MultiArray = rclnodejs.require(
+        'std_msgs/msg/Float32MultiArray'
+      );
+      const MultiArrayDimension = rclnodejs.require(
+        'std_msgs/msg/MultiArrayDimension'
+      );
+
+      let float32MultiArray = new Float32MultiArray();
+      let heightDimension = new MultiArrayDimension();
+      heightDimension.label = 'height';
+      heightDimension.size = 480;
+      heightDimension.stride = 921600;
+
+      let weightDimension = new MultiArrayDimension();
+      weightDimension.label = 'weight';
+      weightDimension.size = 640;
+      weightDimension.stride = 1920;
+
+      let channelDimension = new MultiArrayDimension();
+      channelDimension.label = 'channel';
+      channelDimension.size = 3;
+      channelDimension.stride = 8;
+
+      float32MultiArray.layout.dim.fill([
+        heightDimension,
+        weightDimension,
+        channelDimension,
+      ]);
+      float32MultiArray.layout.data_offset = 1024;
+      float32MultiArray.data = [1.0, 2.0, 3.0, 8.5, 6.75, 0.5, -0.25];
+
+      let float32MultiArrayClone = new Float32MultiArray(float32MultiArray);
+      assert.deepStrictEqual(
+        'height',
+        float32MultiArrayClone.layout.dim.data[0].label
+      );
+      assert.deepStrictEqual(
+        480,
+        float32MultiArrayClone.layout.dim.data[0].size
+      );
+      assert.deepStrictEqual(
+        921600,
+        float32MultiArrayClone.layout.dim.data[0].stride
+      );
+      assert.deepStrictEqual(
+        'weight',
+        float32MultiArrayClone.layout.dim.data[1].label
+      );
+      assert.deepStrictEqual(
+        640,
+        float32MultiArrayClone.layout.dim.data[1].size
+      );
+      assert.deepStrictEqual(
+        1920,
+        float32MultiArrayClone.layout.dim.data[1].stride
+      );
+      assert.deepStrictEqual(
+        'channel',
+        float32MultiArrayClone.layout.dim.data[2].label
+      );
+      assert.deepStrictEqual(3, float32MultiArrayClone.layout.dim.data[2].size);
+      assert.deepStrictEqual(
+        8,
+        float32MultiArrayClone.layout.dim.data[2].stride
+      );
+      assert.deepStrictEqual(1024, float32MultiArrayClone.layout.data_offset);
+      assert.deepStrictEqual(
+        Float32Array.from([1.0, 2.0, 3.0, 8.5, 6.75, 0.5, -0.25]),
+        float32MultiArrayClone.data
+      );
+    });
+  }
 });

From 3bd83bd764da09fe1c883dfa2610b61e8c518b87 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 8 Jan 2021 13:17:25 +0800
Subject: [PATCH 51/64] skip type check tests

---
 test/test-primitive-msg-type-check.js | 638 +++++++++++++-------------
 1 file changed, 321 insertions(+), 317 deletions(-)

diff --git a/test/test-primitive-msg-type-check.js b/test/test-primitive-msg-type-check.js
index ea112f24..d1ee4567 100644
--- a/test/test-primitive-msg-type-check.js
+++ b/test/test-primitive-msg-type-check.js
@@ -18,321 +18,325 @@ const assert = require('assert');
 const rclnodejs = require('../index.js');
 const assertThrowsError = require('./utils.js').assertThrowsError;
 
-describe('Rclnodejs message type data testing', function () {
-  this.timeout(60 * 1000);
-
-  before(function () {
-    return rclnodejs.init();
-  });
-
-  after(function () {
-    rclnodejs.shutdown();
-  });
-
-  it('Bool data checking', function () {
-    var node = rclnodejs.createNode('bool');
-    var msgBool = rclnodejs.require('std_msgs').msg.Bool;
-    var msg = new msgBool();
-
-    msg.data = true;
-    assert.ok(msg.data);
-
-    msg.data = false;
-    assert.ok(!msg.data);
-
-    msg.data = 1;
-    assert.ok(msg.data);
-
-    msg.data = 0;
-    assert.ok(!msg.data);
-
-    msg.data = 'ABc';
-    assert.ok(msg.data);
-
-    msg.data = '';
-    assert.ok(!msg.data);
-  });
-
-  it('Char data checking', function () {
-    var node = rclnodejs.createNode('char');
-    var msgChar = rclnodejs.require('std_msgs').msg.Char;
-    var msg = new msgChar();
-
-    msg.data = 'A';
-    assert.deepStrictEqual(typeof msg.data, 'number');
-    assert.deepStrictEqual(msg.data, 65);
-
-    assertThrowsError(
-      () => {
-        msg.data = -129;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'Char should be in [-128, 127]'
-    );
-    assertThrowsError(
-      () => {
-        msg.data = 128;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'Char should be in [-128, 127]'
-    );
-  });
-
-  it('Byte data checking', function () {
-    var node = rclnodejs.createNode('byte');
-    var msgByte = rclnodejs.require('std_msgs').msg.Byte;
-    var msg = new msgByte();
-
-    msg.data = 0xa;
-    assert.deepStrictEqual(typeof msg.data, 'number');
-    assert.deepStrictEqual(msg.data, 10);
-
-    assertThrowsError(
-      () => {
-        msg.data = -1;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'Byte should be in [0, 255]'
-    );
-    assertThrowsError(
-      () => {
-        msg.data = 256;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'Byte should be in [0, 255]'
-    );
-  });
-
-  it('String data checking', function () {
-    var node = rclnodejs.createNode('string');
-    var msgString = rclnodejs.require('std_msgs').msg.String;
-    var msg = new msgString();
-
-    msg.data = 'rclnodejs';
-    assert.deepStrictEqual(typeof msg.data, 'string');
-    assert.deepStrictEqual(msg.data, 'rclnodejs');
-
-    assertThrowsError(
-      () => {
-        msg.data = 1;
-      },
-      [TypeError, RangeError],
-      'Number/String 64-bit value required',
-      'String data is not a string'
-    );
-    assertThrowsError(
-      () => {
-        msg.data = 3.14;
-      },
-      [TypeError, RangeError],
-      'Number/String 64-bit value required',
-      'String data is not a string'
-    );
-  });
-
-  it('Int8 data checking', function () {
-    var node = rclnodejs.createNode('int8');
-    var msgInt8 = rclnodejs.require('std_msgs').msg.Int8;
-    var msg = new msgInt8();
-
-    msg.data = 0x7f;
-    assert.deepStrictEqual(typeof msg.data, 'number');
-    assert.deepStrictEqual(msg.data, 127);
-
-    assertThrowsError(
-      () => {
-        msg.data = -129;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'Int8 should be in [-128, 127]'
-    );
-    assertThrowsError(
-      () => {
-        msg.data = 128;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'Int8 should be in [-128, 127]'
-    );
-  });
-
-  it('UInt8 data checking', function () {
-    var node = rclnodejs.createNode('uint8');
-    var msgUInt8 = rclnodejs.require('std_msgs').msg.UInt8;
-    var msg = new msgUInt8();
-
-    msg.data = 0xff;
-    assert.deepStrictEqual(typeof msg.data, 'number');
-    assert.deepStrictEqual(msg.data, 255);
-
-    assertThrowsError(
-      () => {
-        msg.data = -1;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'UInt8 should be in [0, 256]'
-    );
-    assertThrowsError(
-      () => {
-        msg.data = 256;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'UInt8 should be in [0, 256]'
-    );
-  });
-
-  it('Int16 data checking', function () {
-    var node = rclnodejs.createNode('int16');
-    var msgInt16 = rclnodejs.require('std_msgs').msg.Int16;
-    var msg = new msgInt16();
-
-    msg.data = 0x7fff;
-    assert.deepStrictEqual(typeof msg.data, 'number');
-    assert.deepStrictEqual(msg.data, 0x7fff);
-
-    assertThrowsError(
-      () => {
-        msg.data = -0x7fff - 2;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'Int16 should be in [-0x7fff, 0x7fff]'
-    );
-    assertThrowsError(
-      () => {
-        msg.data = 0x7ffff + 1;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'Int16 should be in [-0x7fff, 0x7fff]'
-    );
-  });
-
-  it('UInt16 data checking', function () {
-    var node = rclnodejs.createNode('uint16');
-    var msgUInt16 = rclnodejs.require('std_msgs').msg.UInt16;
-    var msg = new msgUInt16();
-
-    msg.data = 0xffff;
-    assert.deepStrictEqual(typeof msg.data, 'number');
-    assert.deepStrictEqual(msg.data, 0xffff);
-
-    assertThrowsError(
-      () => {
-        msg.data = -1;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'UInt16 should be in [0, 0xffff]'
-    );
-    assertThrowsError(
-      () => {
-        msg.data = 0xffff + 1;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'UInt16 should be in [0, 0xffff]'
-    );
-  });
-
-  it('Int32 data checking', function () {
-    var node = rclnodejs.createNode('int32');
-    var msgInt32 = rclnodejs.require('std_msgs').msg.Int32;
-    var msg = new msgInt32();
-
-    msg.data = 0x7fffffff;
-    assert.deepStrictEqual(typeof msg.data, 'number');
-    assert.deepStrictEqual(msg.data, 0x7fffffff);
-
-    assertThrowsError(
-      () => {
-        msg.data = -0x7fffffff - 2;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'Int32 should be in [-0x7fffffff - 1, 0x7fffffff]'
-    );
-    assertThrowsError(
-      () => {
-        msg.data = 0x7ffffffff + 1;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'Int32 should be in [-0x7fffffff - 1, 0x7fffffff]'
-    );
-  });
-
-  it('UInt32 data checking', function () {
-    var node = rclnodejs.createNode('uint32');
-    var msgUInt32 = rclnodejs.require('std_msgs').msg.UInt32;
-    var msg = new msgUInt32();
-
-    msg.data = 0xffffffff;
-    assert.deepStrictEqual(typeof msg.data, 'number');
-    assert.deepStrictEqual(msg.data, 0xffffffff);
-
-    assertThrowsError(
-      () => {
-        msg.data = -1;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'UInt32 should be in [0, 0xffffffff]'
-    );
-    assertThrowsError(
-      () => {
-        msg.data = 0xffffffff + 1;
-      },
-      [TypeError, RangeError],
-      'out of bounds',
-      'UInt32 should be in [0, 0xffffffff]'
-    );
-  });
-
-  it('Int64 data checking', function () {
-    var node = rclnodejs.createNode('int64');
-    var msgInt64 = rclnodejs.require('std_msgs').msg.Int64;
-    var msg = new msgInt64();
-
-    msg.data = 0x1fffffffffffff;
-    assert.deepStrictEqual(typeof msg.data, 'number');
-    assert.deepStrictEqual(msg.data, Number.MAX_SAFE_INTEGER);
-  });
-
-  it('UInt64 data checking', function () {
-    var node = rclnodejs.createNode('uint64');
-    var msgUInt64 = rclnodejs.require('std_msgs').msg.UInt64;
-    var msg = new msgUInt64();
-
-    msg.data = 0x1fffffffffffff;
-    assert.deepStrictEqual(typeof msg.data, 'number');
-    assert.deepStrictEqual(msg.data, Number.MAX_SAFE_INTEGER);
-  });
-
-  it('Float32 data checking', function () {
-    var node = rclnodejs.createNode('float32');
-    var msgFloat32 = rclnodejs.require('std_msgs').msg.Float32;
-    var msg = new msgFloat32();
-
-    msg.data = 3.14;
-    assert.deepStrictEqual(typeof msg.data, 'number');
-    assert.ok(Math.abs(msg.data - 3.14) < 0.000001);
-  });
-
-  it('Float64 data checking', function () {
-    var node = rclnodejs.createNode('float64');
-    var msgFloat64 = rclnodejs.require('std_msgs').msg.Float64;
-    var msg = new msgFloat64();
-
-    msg.data = 3.14;
-    assert.deepStrictEqual(typeof msg.data, 'number');
-    assert.ok(Math.abs(msg.data - 3.14) < 0.000001);
+// new bindings does not do type checking, invalid types are automatically
+// converted to the "zero" value.
+if (!process.env.RCLNODEJS_USE_ROSIDL) {
+  describe('Rclnodejs message type data testing', function () {
+    this.timeout(60 * 1000);
+
+    before(function () {
+      return rclnodejs.init();
+    });
+
+    after(function () {
+      rclnodejs.shutdown();
+    });
+
+    it('Bool data checking', function () {
+      var node = rclnodejs.createNode('bool');
+      var msgBool = rclnodejs.require('std_msgs').msg.Bool;
+      var msg = new msgBool();
+
+      msg.data = true;
+      assert.ok(msg.data);
+
+      msg.data = false;
+      assert.ok(!msg.data);
+
+      msg.data = 1;
+      assert.ok(msg.data);
+
+      msg.data = 0;
+      assert.ok(!msg.data);
+
+      msg.data = 'ABc';
+      assert.ok(msg.data);
+
+      msg.data = '';
+      assert.ok(!msg.data);
+    });
+
+    it('Char data checking', function () {
+      var node = rclnodejs.createNode('char');
+      var msgChar = rclnodejs.require('std_msgs').msg.Char;
+      var msg = new msgChar();
+
+      msg.data = 'A';
+      assert.deepStrictEqual(typeof msg.data, 'number');
+      assert.deepStrictEqual(msg.data, 65);
+
+      assertThrowsError(
+        () => {
+          msg.data = -129;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'Char should be in [-128, 127]'
+      );
+      assertThrowsError(
+        () => {
+          msg.data = 128;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'Char should be in [-128, 127]'
+      );
+    });
+
+    it('Byte data checking', function () {
+      var node = rclnodejs.createNode('byte');
+      var msgByte = rclnodejs.require('std_msgs').msg.Byte;
+      var msg = new msgByte();
+
+      msg.data = 0xa;
+      assert.deepStrictEqual(typeof msg.data, 'number');
+      assert.deepStrictEqual(msg.data, 10);
+
+      assertThrowsError(
+        () => {
+          msg.data = -1;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'Byte should be in [0, 255]'
+      );
+      assertThrowsError(
+        () => {
+          msg.data = 256;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'Byte should be in [0, 255]'
+      );
+    });
+
+    it('String data checking', function () {
+      var node = rclnodejs.createNode('string');
+      var msgString = rclnodejs.require('std_msgs').msg.String;
+      var msg = new msgString();
+
+      msg.data = 'rclnodejs';
+      assert.deepStrictEqual(typeof msg.data, 'string');
+      assert.deepStrictEqual(msg.data, 'rclnodejs');
+
+      assertThrowsError(
+        () => {
+          msg.data = 1;
+        },
+        [TypeError, RangeError],
+        'Number/String 64-bit value required',
+        'String data is not a string'
+      );
+      assertThrowsError(
+        () => {
+          msg.data = 3.14;
+        },
+        [TypeError, RangeError],
+        'Number/String 64-bit value required',
+        'String data is not a string'
+      );
+    });
+
+    it('Int8 data checking', function () {
+      var node = rclnodejs.createNode('int8');
+      var msgInt8 = rclnodejs.require('std_msgs').msg.Int8;
+      var msg = new msgInt8();
+
+      msg.data = 0x7f;
+      assert.deepStrictEqual(typeof msg.data, 'number');
+      assert.deepStrictEqual(msg.data, 127);
+
+      assertThrowsError(
+        () => {
+          msg.data = -129;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'Int8 should be in [-128, 127]'
+      );
+      assertThrowsError(
+        () => {
+          msg.data = 128;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'Int8 should be in [-128, 127]'
+      );
+    });
+
+    it('UInt8 data checking', function () {
+      var node = rclnodejs.createNode('uint8');
+      var msgUInt8 = rclnodejs.require('std_msgs').msg.UInt8;
+      var msg = new msgUInt8();
+
+      msg.data = 0xff;
+      assert.deepStrictEqual(typeof msg.data, 'number');
+      assert.deepStrictEqual(msg.data, 255);
+
+      assertThrowsError(
+        () => {
+          msg.data = -1;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'UInt8 should be in [0, 256]'
+      );
+      assertThrowsError(
+        () => {
+          msg.data = 256;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'UInt8 should be in [0, 256]'
+      );
+    });
+
+    it('Int16 data checking', function () {
+      var node = rclnodejs.createNode('int16');
+      var msgInt16 = rclnodejs.require('std_msgs').msg.Int16;
+      var msg = new msgInt16();
+
+      msg.data = 0x7fff;
+      assert.deepStrictEqual(typeof msg.data, 'number');
+      assert.deepStrictEqual(msg.data, 0x7fff);
+
+      assertThrowsError(
+        () => {
+          msg.data = -0x7fff - 2;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'Int16 should be in [-0x7fff, 0x7fff]'
+      );
+      assertThrowsError(
+        () => {
+          msg.data = 0x7ffff + 1;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'Int16 should be in [-0x7fff, 0x7fff]'
+      );
+    });
+
+    it('UInt16 data checking', function () {
+      var node = rclnodejs.createNode('uint16');
+      var msgUInt16 = rclnodejs.require('std_msgs').msg.UInt16;
+      var msg = new msgUInt16();
+
+      msg.data = 0xffff;
+      assert.deepStrictEqual(typeof msg.data, 'number');
+      assert.deepStrictEqual(msg.data, 0xffff);
+
+      assertThrowsError(
+        () => {
+          msg.data = -1;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'UInt16 should be in [0, 0xffff]'
+      );
+      assertThrowsError(
+        () => {
+          msg.data = 0xffff + 1;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'UInt16 should be in [0, 0xffff]'
+      );
+    });
+
+    it('Int32 data checking', function () {
+      var node = rclnodejs.createNode('int32');
+      var msgInt32 = rclnodejs.require('std_msgs').msg.Int32;
+      var msg = new msgInt32();
+
+      msg.data = 0x7fffffff;
+      assert.deepStrictEqual(typeof msg.data, 'number');
+      assert.deepStrictEqual(msg.data, 0x7fffffff);
+
+      assertThrowsError(
+        () => {
+          msg.data = -0x7fffffff - 2;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'Int32 should be in [-0x7fffffff - 1, 0x7fffffff]'
+      );
+      assertThrowsError(
+        () => {
+          msg.data = 0x7ffffffff + 1;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'Int32 should be in [-0x7fffffff - 1, 0x7fffffff]'
+      );
+    });
+
+    it('UInt32 data checking', function () {
+      var node = rclnodejs.createNode('uint32');
+      var msgUInt32 = rclnodejs.require('std_msgs').msg.UInt32;
+      var msg = new msgUInt32();
+
+      msg.data = 0xffffffff;
+      assert.deepStrictEqual(typeof msg.data, 'number');
+      assert.deepStrictEqual(msg.data, 0xffffffff);
+
+      assertThrowsError(
+        () => {
+          msg.data = -1;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'UInt32 should be in [0, 0xffffffff]'
+      );
+      assertThrowsError(
+        () => {
+          msg.data = 0xffffffff + 1;
+        },
+        [TypeError, RangeError],
+        'out of bounds',
+        'UInt32 should be in [0, 0xffffffff]'
+      );
+    });
+
+    it('Int64 data checking', function () {
+      var node = rclnodejs.createNode('int64');
+      var msgInt64 = rclnodejs.require('std_msgs').msg.Int64;
+      var msg = new msgInt64();
+
+      msg.data = 0x1fffffffffffff;
+      assert.deepStrictEqual(typeof msg.data, 'number');
+      assert.deepStrictEqual(msg.data, Number.MAX_SAFE_INTEGER);
+    });
+
+    it('UInt64 data checking', function () {
+      var node = rclnodejs.createNode('uint64');
+      var msgUInt64 = rclnodejs.require('std_msgs').msg.UInt64;
+      var msg = new msgUInt64();
+
+      msg.data = 0x1fffffffffffff;
+      assert.deepStrictEqual(typeof msg.data, 'number');
+      assert.deepStrictEqual(msg.data, Number.MAX_SAFE_INTEGER);
+    });
+
+    it('Float32 data checking', function () {
+      var node = rclnodejs.createNode('float32');
+      var msgFloat32 = rclnodejs.require('std_msgs').msg.Float32;
+      var msg = new msgFloat32();
+
+      msg.data = 3.14;
+      assert.deepStrictEqual(typeof msg.data, 'number');
+      assert.ok(Math.abs(msg.data - 3.14) < 0.000001);
+    });
+
+    it('Float64 data checking', function () {
+      var node = rclnodejs.createNode('float64');
+      var msgFloat64 = rclnodejs.require('std_msgs').msg.Float64;
+      var msg = new msgFloat64();
+
+      msg.data = 3.14;
+      assert.deepStrictEqual(typeof msg.data, 'number');
+      assert.ok(Math.abs(msg.data - 3.14) < 0.000001);
+    });
   });
-});
+}

From b5816425ee9500fd613d03a91ef8e462c7314f49 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 8 Jan 2021 13:32:44 +0800
Subject: [PATCH 52/64] pass rosidl-message-generator tests

---
 package.json                           |  7 +-
 rosidl_gen/templates/messageRosidl.dot |  5 +-
 test/test-rosidl-message-generator.js  | 91 +++++++++++++++-----------
 3 files changed, 58 insertions(+), 45 deletions(-)

diff --git a/package.json b/package.json
index 36d840d3..de0fb1c0 100644
--- a/package.json
+++ b/package.json
@@ -54,18 +54,19 @@
     "bindings": "^1.5.0",
     "compare-versions": "^3.6.0",
     "debug": "^4.1.1",
+    "deepcopy": "^2.1.0",
     "dot": "^1.1.3",
     "fs-extra": "^9.0.1",
+    "int64-napi": "^1.0.1",
     "is-close": "^1.3.3",
     "mkdirp": "^1.0.4",
     "mz": "^2.7.0",
     "nan": "^2.14.1",
-    "ref-napi": "^3.0.0",
     "ref-array-di": "^1.2.2",
+    "ref-napi": "^3.0.0",
     "ref-struct-di": "^1.1.1",
-    "walk": "^2.3.14",
     "uuid": "^8.2.0",
-    "int64-napi": "^1.0.1"
+    "walk": "^2.3.14"
   },
   "husky": {
     "hooks": {
diff --git a/rosidl_gen/templates/messageRosidl.dot b/rosidl_gen/templates/messageRosidl.dot
index cccc5fd4..53975e8d 100644
--- a/rosidl_gen/templates/messageRosidl.dot
+++ b/rosidl_gen/templates/messageRosidl.dot
@@ -130,6 +130,7 @@ function extractMemberNames(fields) {
 }
 }}
 
+const deepcopy = require('deepcopy');
 const typesupport = require('../../src/generated/build/Release/{{=it.messageInfo.pkgName}}__rosidl_node').{{=it.messageInfo.interfaceName}};
 
 const typesupportDeps = {};
@@ -150,7 +151,7 @@ class {{=objectWrapper}} {
       this._rawRos = {{=objectWrapper}}._createRosMessage();
       this._proxyObj = {{=objectWrapper}}._toJsObject(this._rawRos);
     } else if (other instanceof {{=objectWrapper}}) {
-      this._proxyObj = other._proxyObj;
+      this._proxyObj = deepcopy(other._proxyObj);
     } else {
       this._proxyObj = other;
     }
@@ -234,7 +235,7 @@ class {{=objectWrapper}} {
   {{~}}
 
   copy(other) {
-    this._proxyObj = other._proxyObj;
+    this._proxyObj = deepcopy(other._proxyObj);
   }
 
   static get classType() {
diff --git a/test/test-rosidl-message-generator.js b/test/test-rosidl-message-generator.js
index 6048dc3b..a3852db8 100644
--- a/test/test-rosidl-message-generator.js
+++ b/test/test-rosidl-message-generator.js
@@ -38,6 +38,10 @@ describe('ROSIDL Node.js message generator test suite', function () {
     let promises = [];
     installedPackagesRoot.forEach((path) => {
       let promise = packages.findPackagesInDirectory(path).then((pkgs) => {
+        if (process.env.RCLNODEJS_USE_ROSIDL) {
+          // this packages contains invalid messages
+          pkgs.delete('libstatistics_collector');
+        }
         pkgs.forEach((pkg) => {
           pkg.messages.forEach((info) => {
             const s =
@@ -127,8 +131,12 @@ describe('ROSIDL Node.js message generator test suite', function () {
     let Point = rclnodejs.require('geometry_msgs').msg.Point;
     let Quaternion = rclnodejs.require('geometry_msgs').msg.Quaternion;
     let msg = new Pose();
-    assert(msg.position instanceof Point);
-    assert(msg.orientation instanceof Quaternion);
+
+    // new bindings doesn't initialize nested messages with wrappers.
+    if (!process.env.RCLNODEJS_USE_ROSIDL) {
+      assert(msg.position instanceof Point);
+      assert(msg.orientation instanceof Quaternion);
+    }
 
     // Setter + getter
     msg.position.x = 123.5;
@@ -182,42 +190,45 @@ describe('ROSIDL Node.js message generator test suite', function () {
     assert.equal(copy.position.z, 78901.125);
   });
 
-  it('Testing array - Int32', function () {
-    let Int32 = rclnodejs.require('std_msgs').msg.Int32;
-    let array = new Int32.ArrayType(5);
-
-    assert(array.data instanceof Int32Array);
-    assert(typeof array.data[5] === 'undefined'); // No such index
-    assert.equal(array.size, 5);
-    assert.equal(array.capacity, 5);
-
-    // Assignment of message.data
-    const int32Data = [153, 26, 777, 666, 999];
-    for (let i = 0; i < int32Data.length; ++i) {
-      array.data[i] = int32Data[i];
-      assert.equal(array.data[i], int32Data[i]); // Verifying
-    }
-
-    // Array deep copy
-    let array2 = new Int32.ArrayType();
-    array2.copy(array);
-    for (let i = 0; i < int32Data.length; ++i) {
-      assert.equal(array2.data[i], int32Data[i]);
-    }
-
-    // Change array2
-    for (let i = 0; i < array2.length; ++i) {
-      array2.data[i] = 0;
-    }
-
-    // Values in array1 are NOT changed
-    for (let i = 0; i < array.length; ++i) {
-      assert.equal(array.data[i], int32Data[i]); // Verifying
-    }
-
-    // Resize
-    array.size = 6;
-    assert.equal(array.size, 6);
-    assert.equal(array.capacity, 6);
-  });
+  // new bindings does not have array wrappers.
+  if (!process.env.RCLNODEJS_USE_ROSIDL) {
+    it('Testing array - Int32', function () {
+      let Int32 = rclnodejs.require('std_msgs').msg.Int32;
+      let array = new Int32.ArrayType(5);
+
+      assert(array.data instanceof Int32Array);
+      assert(typeof array.data[5] === 'undefined'); // No such index
+      assert.equal(array.size, 5);
+      assert.equal(array.capacity, 5);
+
+      // Assignment of message.data
+      const int32Data = [153, 26, 777, 666, 999];
+      for (let i = 0; i < int32Data.length; ++i) {
+        array.data[i] = int32Data[i];
+        assert.equal(array.data[i], int32Data[i]); // Verifying
+      }
+
+      // Array deep copy
+      let array2 = new Int32.ArrayType();
+      array2.copy(array);
+      for (let i = 0; i < int32Data.length; ++i) {
+        assert.equal(array2.data[i], int32Data[i]);
+      }
+
+      // Change array2
+      for (let i = 0; i < array2.length; ++i) {
+        array2.data[i] = 0;
+      }
+
+      // Values in array1 are NOT changed
+      for (let i = 0; i < array.length; ++i) {
+        assert.equal(array.data[i], int32Data[i]); // Verifying
+      }
+
+      // Resize
+      array.size = 6;
+      assert.equal(array.size, 6);
+      assert.equal(array.capacity, 6);
+    });
+  }
 });

From fb2ac5c7927c14ef00eba7b311cfb815739112e1 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 8 Jan 2021 13:35:59 +0800
Subject: [PATCH 53/64] skip invalid tests

---
 test/test-primitive-msg-type-check.js |   2 +-
 test/test-security-related.js         | 100 ++++++++++++++------------
 2 files changed, 55 insertions(+), 47 deletions(-)

diff --git a/test/test-primitive-msg-type-check.js b/test/test-primitive-msg-type-check.js
index d1ee4567..7c1522bb 100644
--- a/test/test-primitive-msg-type-check.js
+++ b/test/test-primitive-msg-type-check.js
@@ -18,7 +18,7 @@ const assert = require('assert');
 const rclnodejs = require('../index.js');
 const assertThrowsError = require('./utils.js').assertThrowsError;
 
-// new bindings does not do type checking, invalid types are automatically
+// new bindings does not throw on wrong types, invalid types are automatically
 // converted to the "zero" value.
 if (!process.env.RCLNODEJS_USE_ROSIDL) {
   describe('Rclnodejs message type data testing', function () {
diff --git a/test/test-security-related.js b/test/test-security-related.js
index b24bf4f1..2ca02499 100644
--- a/test/test-security-related.js
+++ b/test/test-security-related.js
@@ -213,54 +213,62 @@ describe('Fuzzing API calls testing', function () {
     node.destroy();
   });
 
-  it('Inconsistent message type for subscription', function () {
-    var node = rclnodejs.createNode('node1', '/inconsistent');
-    const RclString = 'std_msgs/msg/String';
-
-    var publisher = node.createPublisher(RclString, 'chatter7');
-    assertThrowsError(
-      () => {
-        publisher.publish({ a: 1 });
-      },
-      TypeError,
-      'Invalid argument',
-      `Type should be ${RclString}`
-    );
-
-    rclnodejs.spin(node);
-    node.destroy();
-  });
-
-  it('Inconsistent request data for service', function () {
-    var node = rclnodejs.createNode('node2', '/inconsistent');
-    const AddTwoInts = 'example_interfaces/srv/AddTwoInts';
+  // new bindings does not throw on wrong types, invalid values are defaulted to their
+  // "zero" value.
+  if (!process.env.RCLNODEJS_USE_ROSIDL) {
+    it('Inconsistent message type for subscription', function () {
+      var node = rclnodejs.createNode('node1', '/inconsistent');
+      const RclString = 'std_msgs/msg/String';
+
+      var publisher = node.createPublisher(RclString, 'chatter7');
+      assertThrowsError(
+        () => {
+          publisher.publish({ a: 1 });
+        },
+        TypeError,
+        'Invalid argument',
+        `Type should be ${RclString}`
+      );
 
-    var client = node.createClient(AddTwoInts, 'add_two_ints');
-    var service = node.createService(
-      AddTwoInts,
-      'add_two_ints',
-      (request, response) => {
-        assert.throws(
-          () => {
-            request.b;
-          },
-          Error,
-          'This should never be reached.'
-        );
-      }
-    );
+      rclnodejs.spin(node);
+      node.destroy();
+    });
+  }
+
+  // new bindings does not throw on wrong types, invalid values are defaulted to their
+  // "zero" value.
+  if (!process.env.RCLNODEJS_USE_ROSIDL) {
+    it('Inconsistent request data for service', function () {
+      var node = rclnodejs.createNode('node2', '/inconsistent');
+      const AddTwoInts = 'example_interfaces/srv/AddTwoInts';
+
+      var client = node.createClient(AddTwoInts, 'add_two_ints');
+      var service = node.createService(
+        AddTwoInts,
+        'add_two_ints',
+        (request, response) => {
+          assert.throws(
+            () => {
+              request.b;
+            },
+            Error,
+            'This should never be reached.'
+          );
+        }
+      );
 
-    assertThrowsError(
-      () => {
-        client.sendRequest({ a: 1 }, (response) => {});
-      },
-      TypeError,
-      'Invalid argument',
-      'request.b does not exist'
-    );
-    rclnodejs.spin(node);
-    node.destroy();
-  });
+      assertThrowsError(
+        () => {
+          client.sendRequest({ a: 1 }, (response) => {});
+        },
+        TypeError,
+        'Invalid argument',
+        'request.b does not exist'
+      );
+      rclnodejs.spin(node);
+      node.destroy();
+    });
+  }
 
   it('resources will be freed by shutdown', function () {
     var node = rclnodejs.createNode('node1', '/unhandled');

From a1db103aef2a46fa3dde681e3453e88fc8da35fb Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 8 Jan 2021 14:21:43 +0800
Subject: [PATCH 54/64] allow using .npmrc to enable rosidl bindings

---
 rosidl_gen/index.js | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/rosidl_gen/index.js b/rosidl_gen/index.js
index 3c66ab3c..7abfcfb6 100644
--- a/rosidl_gen/index.js
+++ b/rosidl_gen/index.js
@@ -88,12 +88,11 @@ async function generateAll(forcedGenerating) {
       path.join(__dirname, 'generator.json'),
       path.join(generatedRoot, 'generator.json')
     );
+    const useRosidl =
+      process.env.RCLNODEJS_USE_ROSIDL ||
+      process.env.npm_config_rclnodejs_use_rosidl;
     const options = {
-      idlProvider:
-        process.env.RCLNODEJS_USE_ROSIDL &&
-        process.env.RCLNODEJS_USE_ROSIDL !== '0'
-          ? 'rosidl'
-          : 'ref',
+      idlProvider: useRosidl ? 'rosidl' : 'ref',
     };
     await generateInPaths(installedPackagePaths, options);
     await fsp.writeFile(

From d5ecbbaabc5f7f71ee7b382d5ff84233f01404d1 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 8 Jan 2021 15:40:36 +0800
Subject: [PATCH 55/64] add docs for the new bindings

---
 README.md | 97 +++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 97 insertions(+)

diff --git a/README.md b/README.md
index 0ece9d92..cc881184 100644
--- a/README.md
+++ b/README.md
@@ -53,6 +53,103 @@ npm i rclnodejs@x.y.z
 
 - **Note:** to install rclnodejs from GitHub: add `"rclnodejs":"RobotWebTools/rclnodejs#<branch>"` to your `package.json` depdendency section.
 
+## Experimental Message Bindings
+
+In order to use the new bindings, you must either:
+
+set RCLNODEJS_USE_ROSIDL=1 environment variable.
+or
+add a `.npmrc` file in your project directory with `rclnodejs_use_rosidl=true`.
+
+The new experimental message bindings uses ros interfaces to perform serialization. The main advantage of the new bindings is better performance, it is ~25% faster for large messages (1mb) and ~800% faster for small messages (1kb). It is also safer as memory is managed by v8, you will no longer get undefined behaviors when you try to reference a message outside the subscription callbacks, as a result of moving to v8 managed memory, it also fixes some memory leaks observed in the current bindings.
+
+The downside is that the new bindings is not API compatible, it does a number of things differently.
+
+1. The new bindings initialize nested message as plain js objects instead of the wrappers classes. As a result, they don't contain wrapper methods, for example, this wouldn't work
+
+```js
+const msg = new UInt8MultiArray();
+console.log(msg.hasMember('foo')); // ok, `msg` is a UInt8MultiArrayWrapper
+console.log(msg.layout.hasMember('bar')); // error, `layout` is a plain js object, there is no `hasMember` method
+```
+
+2. There is no array wrappers.
+
+```js
+const UInt8MultiArray = rclnodejs.require('std_msgs').msg.UInt8MultiArray;
+const Byte = rclnodejs.require('std_msgs').msg.Byte;
+const byteArray = new Byte.ArrayType(10); // error, there is no `ArrayType`
+```
+
+3. Primitives are initialized to their zero value.
+
+```js
+const Header = rclnodejs.require('std_msgs').msg.Header;
+let header = new Header();
+console.log(typeof header.frame_id); // 'string', in the old bindings this would be 'undefined'
+```
+
+4. Shortform for `std_msg` wrappers are not support.
+
+```js
+const String = rclnodejs.require('std_msgs').msg.String;
+const publisher = node.createPublisher(String, 'topic');
+publish.publish({ data: 'hello' }); // ok
+publisher.publish('hello'); // error, shortform not supported
+```
+
+5. Primitive arrays are always deserialized to typed arrays.
+
+```js
+const subscription = node.createSubscription(
+  'std_msgs/msg/UInt8MultiArray',
+  'topic',
+  (msg) => {
+    console.log(msg.data instanceof Uint8Array); // always true, even if typed array is disabled in rclnodejs initialization
+  }
+);
+```
+
+6. No conversion is done until serialization time.
+
+```js
+const UInt8MultiArray = rclnodejs.require('std_msgs').msg.UInt8MultiArray;
+const msg = new UInt8MultiArray();
+msg.data = [1, 2, 3];
+console.log(msg.data instanceof Uint8Array); // false, assigning `msg.data` does not automatically convert it to typed array.
+```
+
+7. Does not throw on wrong types, they are silently converted to their zero value instead.
+
+```js
+const String = rclnodejs.require('std_msgs').msg.String;
+const publisher = node.createPublisher(String, 'topic');
+publish.publish({ data: 123 }); // does not throw, data is silently converted to an empty string.
+```
+
+8. Message memory is managed by v8. There is no longer any need to manually destroy messages and
+   do other house keeping.
+
+```js
+// With the old bindings, this may result in use-after-free as messages may be deleted when they
+// leave the callback, even if there are still references to it. You will have to deep copy the message
+// and manually destroy it with its `destroy` method when you don't need it anymore.
+//
+// This is safe with the new bindings, `lastMessage` will either be `undefined` or the last message received.
+// Old messages are automatically garbage collected by v8 as they are no longer reachable.
+let lastMessage;
+const subscription = node.createSubscription(
+  'std_msgs/msg/UInt8MultiArray',
+  'topic',
+  (msg) => {
+    lastMessage = msg;
+  }
+);
+setTimeout(() => {
+  console.log(lastMessage);
+}, 1000);
+```
+
 ## API Documentation
 
 The API documentation is generated by `jsdoc`. To create a local copy run `npm run docs`. Alternatively you can use the prebuilt api documentation found in the `docs/` folder or view the [on-line version](http://robotwebtools.org/rclnodejs/docs/index.html) in your browser.

From 0c71b29164943db7ce5f7148df5ec518c5a8d280 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Fri, 8 Jan 2021 15:45:26 +0800
Subject: [PATCH 56/64] remove testing console.log

---
 rosidl_gen/message_translator.js | 1 -
 1 file changed, 1 deletion(-)

diff --git a/rosidl_gen/message_translator.js b/rosidl_gen/message_translator.js
index 7d94b0d4..647d72ff 100644
--- a/rosidl_gen/message_translator.js
+++ b/rosidl_gen/message_translator.js
@@ -49,7 +49,6 @@ function copyMsgObject(msg, obj) {
           }
         } else {
           // Proceed further of this object
-          console.log(i, msg[i]);
           copyMsgObject(msg[i], obj[i]);
         }
       } else {

From b894d9307b1c9a1101ba3fad2c2c5df323cdb04c Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 12 Jan 2021 11:48:15 +0800
Subject: [PATCH 57/64] move node-gyp to deps to support runtime generation for
 new bindings

---
 package.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/package.json b/package.json
index de0fb1c0..ea00b26f 100644
--- a/package.json
+++ b/package.json
@@ -44,7 +44,6 @@
     "husky": "^4.2.5",
     "lint-staged": "^10.2.11",
     "mocha": "^8.0.1",
-    "node-gyp": "^7.1.2",
     "prettier": "^2.0.5",
     "sinon": "^9.0.2",
     "tree-kill": "^1.2.2",
@@ -62,6 +61,7 @@
     "mkdirp": "^1.0.4",
     "mz": "^2.7.0",
     "nan": "^2.14.1",
+    "node-gyp": "^7.1.2",
     "ref-array-di": "^1.2.2",
     "ref-napi": "^3.0.0",
     "ref-struct-di": "^1.1.1",

From a44fc09aa43594c11c0263204701121fd60f733d Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 12 Jan 2021 11:54:09 +0800
Subject: [PATCH 58/64] use npx to launch node-gyp

---
 rosidl_gen/index.js | 20 ++++++++------------
 1 file changed, 8 insertions(+), 12 deletions(-)

diff --git a/rosidl_gen/index.js b/rosidl_gen/index.js
index 7abfcfb6..5da87dec 100644
--- a/rosidl_gen/index.js
+++ b/rosidl_gen/index.js
@@ -63,18 +63,14 @@ async function generateInPaths(paths, options) {
       })
     );
     await generateTypesupportGyp(pkgsEntries, rosIdlDb, options);
-    await child_process.spawn(
-      'node',
-      [`${__dirname}/../node_modules/.bin/node-gyp`, 'rebuild'],
-      {
-        cwd: `${__dirname}/../src/generated`,
-        stdio: 'inherit',
-        env: {
-          ...process.env,
-          JOBS: os.cpus().length,
-        },
-      }
-    );
+    await child_process.spawn('npx', ['--no-install', 'node-gyp', 'rebuild'], {
+      cwd: `${__dirname}/../src/generated`,
+      stdio: 'inherit',
+      env: {
+        ...process.env,
+        JOBS: os.cpus().length,
+      },
+    });
   }
 }
 

From a8e5140a699b5b173a7e4decfd8f8291613fe842 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Wed, 20 Jan 2021 09:52:40 +0800
Subject: [PATCH 59/64] no longer uses regex to guess cmake libraries

now back to uses predefined pattern of `<pkg_name>__rosidl_generator_c`. The problem that using cmake fixes looks to be a non-issue as those messages never work with ros2 anyway, see https://github.com/koonpeng/ros_msg_with_diff_pkg_name
---
 rosidl_gen/idl_generator.js             | 1 -
 rosidl_gen/templates/typesupportGyp.dot | 4 +---
 2 files changed, 1 insertion(+), 4 deletions(-)

diff --git a/rosidl_gen/idl_generator.js b/rosidl_gen/idl_generator.js
index 9477c95c..1d11ddde 100644
--- a/rosidl_gen/idl_generator.js
+++ b/rosidl_gen/idl_generator.js
@@ -676,7 +676,6 @@ async function generateTypesupportGypi(pkgsEntries, rosIdlDb, options) {
     pkgsEntries.map(async ([pkgName, pkgInfo]) => ({
       pkgName,
       pkgInfo,
-      linkLibraries: await rosIdlDb.getLinkLibraries(pkgName),
       dependencies: await rosIdlDb.getDependentPackages(pkgName),
     }))
   );
diff --git a/rosidl_gen/templates/typesupportGyp.dot b/rosidl_gen/templates/typesupportGyp.dot
index 13c88452..22635177 100644
--- a/rosidl_gen/templates/typesupportGyp.dot
+++ b/rosidl_gen/templates/typesupportGyp.dot
@@ -92,9 +92,7 @@
       ],
       'link_settings': {
         'libraries': [
-{{~ pkg.linkLibraries : lib}}
-          '-l{{=lib}}',
-{{~}}
+          '-l{{=pkg.pkgName}}__rosidl_generator_c',
         ],
       },
     },

From f8c9c9a8e6aa6f5ab7eb494f4443f08c7319b16b Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 26 Jan 2021 13:44:56 +0800
Subject: [PATCH 60/64] travis build matrix

---
 .travis.yml                               |  6 ++++-
 options.js                                |  9 +++++++
 rosidl_gen/index.js                       |  6 ++---
 test/test-array-data.js                   |  5 ++--
 test/test-compound-msg-type-check.js      |  5 ++--
 test/test-cross-lang.js                   |  5 ++--
 test/test-disable-typedarray.js           |  3 ++-
 test/test-message-object.js               |  4 ++--
 test/test-message-translator-primitive.js |  3 ++-
 test/test-msg-type-cpp-node.js            | 29 ++++++++++++-----------
 test/test-msg-type-py-node.js             | 27 +++++++++++----------
 test/test-multi-nodes.js                  |  3 ++-
 test/test-non-primitive-msg-type-check.js |  5 ++--
 test/test-primitive-msg-type-check.js     |  3 ++-
 test/test-rosidl-message-generator.js     |  7 +++---
 test/test-security-related.js             |  5 ++--
 test/test-single-process.js               |  3 ++-
 17 files changed, 76 insertions(+), 52 deletions(-)
 create mode 100644 options.js

diff --git a/.travis.yml b/.travis.yml
index 47db2ed7..47f16d3c 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -7,8 +7,12 @@ branches:
   only:
   - develop
 
+env:
+  - RCLNODEJS_USE_ROSIDL=true
+  - RCLNODEJS_USE_ROSIDL=false
+
 script:
   - 'if [ "$DOCKER_USERNAME" != "" ]; then sudo docker login -u $DOCKER_USERNAME -p $DOCKER_PASSWORD; fi'
   - sudo docker pull ubuntu:focal
   - sudo docker build -t rcldocker .
-  - sudo docker run -v $(pwd):/root/rclnodejs --rm rcldocker bash -i -c 'cd /root/rclnodejs && cppcheck --suppress=syntaxError --enable=all src/*.cpp src/*.hpp && ./scripts/build.sh && npm test'
+  - sudo docker run -e RCLNODEJS_USE_ROSIDL=${RCLNODEJS_USE_ROSIDL} -v $(pwd):/root/rclnodejs --rm rcldocker bash -i -c 'cd /root/rclnodejs && cppcheck --suppress=syntaxError --enable=all src/*.cpp src/*.hpp && ./scripts/build.sh && npm test'
diff --git a/options.js b/options.js
new file mode 100644
index 00000000..9dad808d
--- /dev/null
+++ b/options.js
@@ -0,0 +1,9 @@
+'use strict';
+
+const useRosIdl =
+  eval(process.env.RCLNODEJS_USE_ROSIDL) ||
+  eval(process.env.npm_config_rclnodejs_use_rosidl);
+
+module.exports = {
+  useRosIdl,
+};
diff --git a/rosidl_gen/index.js b/rosidl_gen/index.js
index 5da87dec..e5e4ea07 100644
--- a/rosidl_gen/index.js
+++ b/rosidl_gen/index.js
@@ -26,6 +26,7 @@ const {
 const os = require('os');
 const packages = require('./packages.js');
 const path = require('path');
+const { useRosIdl } = require('../options');
 
 const generatedRoot = path.join(__dirname, '../generated/');
 const installedPackagePaths = process.env.AMENT_PREFIX_PATH.split(
@@ -84,11 +85,8 @@ async function generateAll(forcedGenerating) {
       path.join(__dirname, 'generator.json'),
       path.join(generatedRoot, 'generator.json')
     );
-    const useRosidl =
-      process.env.RCLNODEJS_USE_ROSIDL ||
-      process.env.npm_config_rclnodejs_use_rosidl;
     const options = {
-      idlProvider: useRosidl ? 'rosidl' : 'ref',
+      idlProvider: useRosIdl ? 'rosidl' : 'ref',
     };
     await generateInPaths(installedPackagePaths, options);
     await fsp.writeFile(
diff --git a/test/test-array-data.js b/test/test-array-data.js
index 20a7c55b..60ba48e6 100644
--- a/test/test-array-data.js
+++ b/test/test-array-data.js
@@ -20,6 +20,7 @@ const deepEqual = require('deep-equal');
 const rclnodejs = require('../index.js');
 const translator = require('../rosidl_gen/message_translator.js');
 const arrayGen = require('./array_generator.js');
+const { useRosIdl } = require('../options.js');
 
 function isTypedArray(v) {
   return ArrayBuffer.isView(v) && !(v instanceof DataView);
@@ -50,7 +51,7 @@ describe('rclnodejs message communication', function () {
 
   // The new bindings initialize nested message as plain js objects instead of the wrappers.
   // As a result, they don't contain .hasMember methods that this test needs.
-  if (!process.env.RCLNODEJS_USE_ROSIDL) {
+  if (!useRosIdl) {
     [
       {
         pkg: 'std_msgs',
@@ -247,7 +248,7 @@ describe('rclnodejs message communication', function () {
   // similar to the above test, this requires introspection into the message by using the
   // .hasMember method. The new bindings only support typed arrays so these tests are not
   // really needed.
-  if (!process.env.RCLNODEJS_USE_ROSIDL) {
+  if (!useRosIdl) {
     [
       /* eslint-disable camelcase */
       /* eslint-disable key-spacing */
diff --git a/test/test-compound-msg-type-check.js b/test/test-compound-msg-type-check.js
index 4cb0fd40..f176a1f2 100644
--- a/test/test-compound-msg-type-check.js
+++ b/test/test-compound-msg-type-check.js
@@ -17,6 +17,7 @@
 const assert = require('assert');
 const rclnodejs = require('../index.js');
 const assertThrowsError = require('./utils.js').assertThrowsError;
+const { useRosIdl } = require('../options');
 
 describe('Compound types', function () {
   this.timeout(60 * 1000);
@@ -41,7 +42,7 @@ describe('Compound types', function () {
   });
 
   // there is no special array wrappers in the new bindings
-  if (!process.env.RCLNODEJS_USE_ROSIDL) {
+  if (!useRosIdl) {
     it('Array', function () {
       const Byte = rclnodejs.require('std_msgs').msg.Byte;
       const ByteArray = Byte.ArrayType;
@@ -64,7 +65,7 @@ describe('Compound types', function () {
 
     assert.deepStrictEqual(typeof header.stamp, 'object');
     // the new bindings correctly initialize strings as an empty string instead of undefined.
-    if (process.env.RCLNODEJS_USE_ROSIDL) {
+    if (useRosIdl) {
       assert.deepStrictEqual(typeof header.frame_id, 'string');
     } else {
       assert.deepStrictEqual(typeof header.frame_id, 'undefined');
diff --git a/test/test-cross-lang.js b/test/test-cross-lang.js
index 3225c538..9d2e1d72 100644
--- a/test/test-cross-lang.js
+++ b/test/test-cross-lang.js
@@ -20,6 +20,7 @@ const childProcess = require('child_process');
 const rclnodejs = require('../index.js');
 const utils = require('./utils.js');
 const kill = require('tree-kill');
+const { useRosIdl } = require('../options');
 
 describe('Cross-language interaction', function () {
   this.timeout(60 * 1000);
@@ -106,7 +107,7 @@ describe('Cross-language interaction', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -139,7 +140,7 @@ describe('Cross-language interaction', function () {
       var msg = text;
 
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
diff --git a/test/test-disable-typedarray.js b/test/test-disable-typedarray.js
index edb03946..8887690b 100644
--- a/test/test-disable-typedarray.js
+++ b/test/test-disable-typedarray.js
@@ -16,12 +16,13 @@
 
 const assert = require('assert');
 const rclnodejs = require('../index.js');
+const { useRosIdl } = require('../options');
 
 /* eslint-disable camelcase */
 /* eslint-disable key-spacing */
 /* eslint-disable comma-spacing */
 // rosidl generator only supports typed array
-if (!process.env.RCLNODEJS_USE_ROSIDL) {
+if (!useRosIdl) {
   describe('rclnodejs message communication', function () {
     this.timeout(60 * 1000);
 
diff --git a/test/test-message-object.js b/test/test-message-object.js
index d946d2c3..1e2da237 100644
--- a/test/test-message-object.js
+++ b/test/test-message-object.js
@@ -38,7 +38,7 @@ describe('Rclnodejs createMessage() testing', function () {
     let promises = [];
     installedPackagesRoot.forEach((path) => {
       let promise = packages.findPackagesInDirectory(path).then((pkgs) => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           // this packages contains invalid messages
           pkgs.delete('libstatistics_collector');
         }
@@ -183,7 +183,7 @@ describe('Rclnodejs createMessageObject() testing', function () {
     let promises = [];
     installedPackagesRoot.forEach((path) => {
       let promise = packages.findPackagesInDirectory(path).then((pkgs) => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           // this packages contains invalid messages
           pkgs.delete('libstatistics_collector');
         }
diff --git a/test/test-message-translator-primitive.js b/test/test-message-translator-primitive.js
index c41261e9..31fd6499 100644
--- a/test/test-message-translator-primitive.js
+++ b/test/test-message-translator-primitive.js
@@ -17,6 +17,7 @@
 const rclnodejs = require('../index.js');
 const deepEqual = require('deep-equal');
 const arrayGen = require('./array_generator.js');
+const { useRosIdl } = require('../options');
 
 /* eslint-disable camelcase */
 /* eslint-disable indent */
@@ -103,7 +104,7 @@ describe('Rclnodejs message translation: primitive types', function () {
                 );
               }
             });
-            if (process.env.RCLNODEJS_USE_ROSIDL) {
+            if (useRosIdl) {
               publisher.publish({ data: v }); // Short-cut form not supported in rosidl generator
             } else {
               publisher.publish(v); // Short-cut form of publishing primitive types
diff --git a/test/test-msg-type-cpp-node.js b/test/test-msg-type-cpp-node.js
index 3cd56f59..47746cc6 100644
--- a/test/test-msg-type-cpp-node.js
+++ b/test/test-msg-type-cpp-node.js
@@ -22,6 +22,7 @@ const childProcess = require('child_process');
 const deepEqual = require('deep-equal');
 const rclnodejs = require('../index.js');
 const utils = require('./utils.js');
+const { useRosIdl } = require('../options');
 
 describe('Rclnodejs - Cpp message type testing', function () {
   var cppSubscriptionPath = path.join(__dirname, 'cpp', 'subscription_msg');
@@ -59,7 +60,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -87,7 +88,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -115,7 +116,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -143,7 +144,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -172,7 +173,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -200,7 +201,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -228,7 +229,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -256,7 +257,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -284,7 +285,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
       );
 
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -311,7 +312,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -338,7 +339,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -366,7 +367,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -393,7 +394,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -420,7 +421,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
diff --git a/test/test-msg-type-py-node.js b/test/test-msg-type-py-node.js
index fde56e37..9d0dd99b 100644
--- a/test/test-msg-type-py-node.js
+++ b/test/test-msg-type-py-node.js
@@ -21,6 +21,7 @@ const childProcess = require('child_process');
 const deepEqual = require('deep-equal');
 const rclnodejs = require('../index.js');
 const utils = require('./utils.js');
+const { useRosIdl } = require('../options');
 
 describe('Rclnodejs - Python message type testing', function () {
   this.timeout(60 * 1000);
@@ -59,7 +60,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -119,7 +120,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -151,7 +152,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -183,7 +184,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -215,7 +216,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -247,7 +248,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -279,7 +280,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -311,7 +312,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -343,7 +344,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -375,7 +376,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -407,7 +408,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -439,7 +440,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
@@ -471,7 +472,7 @@ describe('Rclnodejs - Python message type testing', function () {
         }
       );
       var timer = node.createTimer(100, () => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           publisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           publisher.publish(msg);
diff --git a/test/test-multi-nodes.js b/test/test-multi-nodes.js
index a317898d..5866a039 100644
--- a/test/test-multi-nodes.js
+++ b/test/test-multi-nodes.js
@@ -20,6 +20,7 @@ const childProcess = require('child_process');
 const rclnodejs = require('../index.js');
 const utils = require('./utils.js');
 const kill = require('tree-kill');
+const { useRosIdl } = require('../options');
 
 describe('Multiple nodes interation testing', function () {
   this.timeout(60 * 1000);
@@ -69,7 +70,7 @@ describe('Multiple nodes interation testing', function () {
       );
       var jsPublisher = node.createPublisher(RclString, 'js_pycpp_chatter');
       setTimeout(() => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           jsPublisher.publish({ data: msg }); // short form not supported by rosidl generator
         } else {
           jsPublisher.publish(msg);
diff --git a/test/test-non-primitive-msg-type-check.js b/test/test-non-primitive-msg-type-check.js
index 1688891a..57c07a8c 100644
--- a/test/test-non-primitive-msg-type-check.js
+++ b/test/test-non-primitive-msg-type-check.js
@@ -16,6 +16,7 @@
 
 const assert = require('assert');
 const rclnodejs = require('../index.js');
+const { useRosIdl } = require('../options');
 
 /* eslint-disable camelcase */
 describe('Rclnodejs non primitive message type testing', function () {
@@ -63,7 +64,7 @@ describe('Rclnodejs non primitive message type testing', function () {
 
     // new bindings does not do conversion until serialization so it doesn't automatically
     // converts number arrays to typed arrays on assignment.
-    if (process.env.RCLNODEJS_USE_ROSIDL) {
+    if (useRosIdl) {
       assert.deepStrictEqual([1, 7, 3, 4, 2, 2, 8], jointStateClone.position);
       assert.deepStrictEqual([8, 9, 6, 4], jointStateClone.velocity);
       assert.deepStrictEqual([1, 0, 2, 6, 7], jointStateClone.effort);
@@ -107,7 +108,7 @@ describe('Rclnodejs non primitive message type testing', function () {
 
   // not sure how this test works, `Float32MultiArray.layout.dim.data` is not a valid
   // field, `MultiArrayDimensions` does not have a `data` field.
-  if (!process.env.RCLNODEJS_USE_ROSIDL) {
+  if (!useRosIdl) {
     it('std_msgs/msg/Float32MultiArray checking', function () {
       const Float32MultiArray = rclnodejs.require(
         'std_msgs/msg/Float32MultiArray'
diff --git a/test/test-primitive-msg-type-check.js b/test/test-primitive-msg-type-check.js
index 7c1522bb..3d4162ea 100644
--- a/test/test-primitive-msg-type-check.js
+++ b/test/test-primitive-msg-type-check.js
@@ -17,10 +17,11 @@
 const assert = require('assert');
 const rclnodejs = require('../index.js');
 const assertThrowsError = require('./utils.js').assertThrowsError;
+const { useRosIdl } = require('../options');
 
 // new bindings does not throw on wrong types, invalid types are automatically
 // converted to the "zero" value.
-if (!process.env.RCLNODEJS_USE_ROSIDL) {
+if (!useRosIdl) {
   describe('Rclnodejs message type data testing', function () {
     this.timeout(60 * 1000);
 
diff --git a/test/test-rosidl-message-generator.js b/test/test-rosidl-message-generator.js
index a3852db8..58667f7d 100644
--- a/test/test-rosidl-message-generator.js
+++ b/test/test-rosidl-message-generator.js
@@ -17,6 +17,7 @@
 const assert = require('assert');
 const os = require('os');
 const rclnodejs = require('../index.js');
+const { useRosIdl } = require('../options');
 
 describe('ROSIDL Node.js message generator test suite', function () {
   before(function () {
@@ -38,7 +39,7 @@ describe('ROSIDL Node.js message generator test suite', function () {
     let promises = [];
     installedPackagesRoot.forEach((path) => {
       let promise = packages.findPackagesInDirectory(path).then((pkgs) => {
-        if (process.env.RCLNODEJS_USE_ROSIDL) {
+        if (useRosIdl) {
           // this packages contains invalid messages
           pkgs.delete('libstatistics_collector');
         }
@@ -133,7 +134,7 @@ describe('ROSIDL Node.js message generator test suite', function () {
     let msg = new Pose();
 
     // new bindings doesn't initialize nested messages with wrappers.
-    if (!process.env.RCLNODEJS_USE_ROSIDL) {
+    if (!useRosIdl) {
       assert(msg.position instanceof Point);
       assert(msg.orientation instanceof Quaternion);
     }
@@ -191,7 +192,7 @@ describe('ROSIDL Node.js message generator test suite', function () {
   });
 
   // new bindings does not have array wrappers.
-  if (!process.env.RCLNODEJS_USE_ROSIDL) {
+  if (!useRosIdl) {
     it('Testing array - Int32', function () {
       let Int32 = rclnodejs.require('std_msgs').msg.Int32;
       let array = new Int32.ArrayType(5);
diff --git a/test/test-security-related.js b/test/test-security-related.js
index 2ca02499..418fabc6 100644
--- a/test/test-security-related.js
+++ b/test/test-security-related.js
@@ -19,6 +19,7 @@ const rclnodejs = require('../index.js');
 const assertThrowsError = require('./utils.js').assertThrowsError;
 const translator = require('../rosidl_gen/message_translator.js');
 const arrayGen = require('./array_generator.js');
+const { useRosIdl } = require('../options');
 
 describe('Destroying non-existent objects testing', function () {
   this.timeout(60 * 1000);
@@ -215,7 +216,7 @@ describe('Fuzzing API calls testing', function () {
 
   // new bindings does not throw on wrong types, invalid values are defaulted to their
   // "zero" value.
-  if (!process.env.RCLNODEJS_USE_ROSIDL) {
+  if (!useRosIdl) {
     it('Inconsistent message type for subscription', function () {
       var node = rclnodejs.createNode('node1', '/inconsistent');
       const RclString = 'std_msgs/msg/String';
@@ -237,7 +238,7 @@ describe('Fuzzing API calls testing', function () {
 
   // new bindings does not throw on wrong types, invalid values are defaulted to their
   // "zero" value.
-  if (!process.env.RCLNODEJS_USE_ROSIDL) {
+  if (!useRosIdl) {
     it('Inconsistent request data for service', function () {
       var node = rclnodejs.createNode('node2', '/inconsistent');
       const AddTwoInts = 'example_interfaces/srv/AddTwoInts';
diff --git a/test/test-single-process.js b/test/test-single-process.js
index 3e018b3a..df5d4ca5 100644
--- a/test/test-single-process.js
+++ b/test/test-single-process.js
@@ -16,6 +16,7 @@
 
 const assert = require('assert');
 const rclnodejs = require('../index.js');
+const { useRosIdl } = require('../options');
 
 describe('Test rclnodejs nodes in a single process', function () {
   this.timeout(60 * 1000);
@@ -51,7 +52,7 @@ describe('Test rclnodejs nodes in a single process', function () {
       'single_ps_channel1'
     );
     var timer = publisherNode.createTimer(100, () => {
-      if (process.env.RCLNODEJS_USE_ROSIDL) {
+      if (useRosIdl) {
         publisher.publish({ data: msg }); // short form not supported by rosidl generator
       } else {
         publisher.publish(msg);

From bc1cc52d5f85038cdbb2131810b52524c94f3578 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 26 Jan 2021 14:08:04 +0800
Subject: [PATCH 61/64] typos

---
 README.md | 51 ++++++++++++++++++++++++++++-----------------------
 1 file changed, 28 insertions(+), 23 deletions(-)

diff --git a/README.md b/README.md
index 2438fd74..3c58a769 100644
--- a/README.md
+++ b/README.md
@@ -5,9 +5,9 @@
 | develop | [![Build Status](https://travis-ci.org/RobotWebTools/rclnodejs.svg?branch=develop)](https://travis-ci.org/RobotWebTools/rclnodejs) | [![macOS Build Status](https://circleci.com/gh/RobotWebTools/rclnodejs/tree/develop.svg?style=shield)](https://circleci.com/gh/RobotWebTools/rclnodejs) | [![Build status](https://ci.appveyor.com/api/projects/status/upbc7tavdag1aa5e/branch/develop?svg=true)](https://ci.appveyor.com/project/minggangw/rclnodejs/branch/develop) |
 | master  | [![Build Status](https://travis-ci.org/RobotWebTools/rclnodejs.svg?branch=master)](https://travis-ci.org/RobotWebTools/rclnodejs)  | [![macOS Build Status](https://circleci.com/gh/RobotWebTools/rclnodejs/tree/master.svg?style=shield)](https://circleci.com/gh/RobotWebTools/rclnodejs)  |  [![Build status](https://ci.appveyor.com/api/projects/status/upbc7tavdag1aa5e/branch/master?svg=true)](https://ci.appveyor.com/project/minggangw/rclnodejs/branch/master)  |
 
-**rclnodejs** is a Node.js client library for the Robot Operating System 
-([ROS 2](https://index.ros.org/doc/ros2/)). It provides a JavaScript API 
-and tooling for ROS 2 programming. TypeScript declarations, i.e., (*.d.ts), 
+**rclnodejs** is a Node.js client library for the Robot Operating System
+([ROS 2](https://index.ros.org/doc/ros2/)). It provides a JavaScript API
+and tooling for ROS 2 programming. TypeScript declarations, i.e., (\*.d.ts),
 are included to support use in TypeScript projects.
 
 Here's an example for how to create a ROS 2 node that publishes a string message in a few lines of JavaScript.
@@ -74,7 +74,7 @@ set RCLNODEJS_USE_ROSIDL=1 environment variable.
 or
 add a `.npmrc` file in your project directory with `rclnodejs_use_rosidl=true`.
 
-The new experimental message bindings uses ros interfaces to perform serialization. The main advantage of the new bindings is better performance, it is ~25% faster for large messages (1mb) and ~800% faster for small messages (1kb). It is also safer as memory is managed by v8, you will no longer get undefined behaviors when you try to reference a message outside the subscription callbacks, as a result of moving to v8 managed memory, it also fixes some memory leaks observed in the current bindings.
+The new experimental message bindings uses ros interfaces to perform serialization. The main advantage of the new bindings is better performance, it is ~25% faster for large messages (1mb) and ~800% faster for small messages (1kb). It is also safer as memory is managed by v8, you will no longer get undefined behaviors when you try to reference a message outside the subscription callbacks. Also as a result of moving to v8 managed memory, it fixes some memory leaks observed in the current bindings.
 
 The downside is that the new bindings is not API compatible, it does a number of things differently.
 
@@ -107,7 +107,7 @@ console.log(typeof header.frame_id); // 'string', in the old bindings this would
 ```js
 const String = rclnodejs.require('std_msgs').msg.String;
 const publisher = node.createPublisher(String, 'topic');
-publish.publish({ data: 'hello' }); // ok
+publisher.publish({ data: 'hello' }); // ok
 publisher.publish('hello'); // error, shortform not supported
 ```
 
@@ -172,6 +172,7 @@ API documentation is generated by `jsdoc` and can be viewed in the `docs/` folde
 `rclnodejs` API can be used in TypeScript projects. You can find the TypeScript declaration files (\*.d.ts) in the `types/` folder.
 
 Your `tsconfig.json` file should include the following compiler options:
+
 ```jsonc
 {
   "compilerOptions": {
@@ -195,18 +196,19 @@ rclnodejs.init().then(() => {
 });
 ```
 
-The benefits of using TypeScript become evident when working with more complex use-cases. ROS messages are defined in the `types/interfaces.d.ts` module. This module is updated as part of the `generate-messages` process described in the next section. 
+The benefits of using TypeScript become evident when working with more complex use-cases. ROS messages are defined in the `types/interfaces.d.ts` module. This module is updated as part of the `generate-messages` process described in the next section.
 
 ## ROS2 Interface Message Generation (important)
-ROS components communicate by sending and receiving messages described 
-by the interface definition language (IDL). ROS client libraries such as 
-rclnodejs are responsible for converting these IDL message descriptions 
-into source code of their target language. For this, rclnodejs provides 
-the `generate-messages` npm script that reads in the IDL 
-messages files of a ROS environment and generates corresponding JavaScript 
-message interface files. Additionally, the tool generates the TypeScript 
-`interface.d.ts` file containing declarations for every IDL message file 
-processed. 
+
+ROS components communicate by sending and receiving messages described
+by the interface definition language (IDL). ROS client libraries such as
+rclnodejs are responsible for converting these IDL message descriptions
+into source code of their target language. For this, rclnodejs provides
+the `generate-messages` npm script that reads in the IDL
+messages files of a ROS environment and generates corresponding JavaScript
+message interface files. Additionally, the tool generates the TypeScript
+`interface.d.ts` file containing declarations for every IDL message file
+processed.
 
 Learn more about ROS interfaces and IDL [here](https://index.ros.org/doc/ros2/Concepts/About-ROS-Interfaces/).
 
@@ -219,13 +221,15 @@ stringMsgObject.data = 'hello world';
 ```
 
 ### Maintaining Generated JavaScript Message Files
-Message files are generated as a post-install step of the rclnodejs 
-installation process. Thereafter, you will need to manually run the 
-message generation script when new ROS message packages are installed 
-for which your ROS2-nodejs project has a dependency. 
+
+Message files are generated as a post-install step of the rclnodejs
+installation process. Thereafter, you will need to manually run the
+message generation script when new ROS message packages are installed
+for which your ROS2-nodejs project has a dependency.
 
 ### Running `generate-messages` Utility
-To use `generate-messages` from your Nodejs package, create an npm 
+
+To use `generate-messages` from your Nodejs package, create an npm
 script entry in your package.json file as shown:
 
 ```
@@ -233,15 +237,16 @@ script entry in your package.json file as shown:
   "generate-messages": "generate-messages"
   // your other scripts here
 }
-````
+```
 
 To run the script use `npm` as follows:
+
 ```
 npm run generate-messages
 ```
-The newly generated JavaScript files can be found at 
-`<yourproject>/node_modules/rclnodejs/generated/`.
 
+The newly generated JavaScript files can be found at
+`<yourproject>/node_modules/rclnodejs/generated/`.
 
 ## Contributing
 

From 395c4fe613df28ea021ddbeb16a6f3d7e757de03 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 26 Jan 2021 14:11:36 +0800
Subject: [PATCH 62/64] typos

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 3c58a769..63c628ef 100644
--- a/README.md
+++ b/README.md
@@ -102,7 +102,7 @@ let header = new Header();
 console.log(typeof header.frame_id); // 'string', in the old bindings this would be 'undefined'
 ```
 
-4. Shortform for `std_msg` wrappers are not support.
+4. Shortform for `std_msg` wrappers are not supported.
 
 ```js
 const String = rclnodejs.require('std_msgs').msg.String;

From f402cd13e72c8a8d105aac6e9595281f57337ac5 Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 26 Jan 2021 14:44:59 +0800
Subject: [PATCH 63/64] uncomment testing commented out code

---
 scripts/generate_messages.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/generate_messages.js b/scripts/generate_messages.js
index 6f1335c2..1ebd3847 100755
--- a/scripts/generate_messages.js
+++ b/scripts/generate_messages.js
@@ -25,7 +25,7 @@ async function main() {
 
   try {
     await generator.generateAll(true);
-    // await tsdGenerator.generateAll(); // create interfaces.d.ts
+    await tsdGenerator.generateAll(); // create interfaces.d.ts
     console.log('Generation complete.');
   } catch (e) {
     console.log(`Caught error: ${e}`);

From 07de22a3ce08f059a057468e65891879fe6f3e0a Mon Sep 17 00:00:00 2001
From: koonpeng <koonpeng@openrobotics.org>
Date: Tue, 26 Jan 2021 14:56:10 +0800
Subject: [PATCH 64/64] fix lint errors

---
 src/type_conversion.hpp  | 22 ++++++++++++++++++++--
 test/test-interactive.js | 26 ++++++++++++++------------
 2 files changed, 34 insertions(+), 14 deletions(-)

diff --git a/src/type_conversion.hpp b/src/type_conversion.hpp
index bff211b1..f4a7f5ac 100644
--- a/src/type_conversion.hpp
+++ b/src/type_conversion.hpp
@@ -1,3 +1,20 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+ */
+
 #ifndef RCLNODEJS_TYPE_CONVERSION_HPP_
 #define RCLNODEJS_TYPE_CONVERSION_HPP_
 
@@ -16,6 +33,7 @@
 #include <locale>
 #include <sstream>
 #include <string>
+#include <utility>
 #include <vector>
 
 namespace rclnodejs {
@@ -78,7 +96,7 @@ inline rosidl_runtime_c__String ToNativeChecked<rosidl_runtime_c__String>(
   rosidl_runtime_c__String__init(&ros_string);
   if (!val->IsString()) {
     return ros_string;
-  };
+  }
   Nan::Utf8String utf8(val);
   if (*utf8 == nullptr) {
     throw std::runtime_error("failed to convert value to string");
@@ -94,7 +112,7 @@ inline rosidl_runtime_c__U16String ToNativeChecked<rosidl_runtime_c__U16String>(
   rosidl_runtime_c__U16String__init(&ros_string);
   if (!val->IsString()) {
     return ros_string;
-  };
+  }
   Nan::Utf8String utf8(val);
   if (*utf8 == nullptr) {
     throw std::runtime_error("failed to convert value to string");
diff --git a/test/test-interactive.js b/test/test-interactive.js
index 4bd91411..6a8631b8 100644
--- a/test/test-interactive.js
+++ b/test/test-interactive.js
@@ -35,20 +35,22 @@ describe('rclnodejs interactive testing', function () {
       const RclString = 'std_msgs/msg/String';
       var publisher = childProcess.fork(`${__dirname}/publisher_setup.js`);
       var destroy = false;
-      var subscription = node.createSubscription(RclString, 'topic', function (
-        msg
-      ) {
-        assert.deepStrictEqual(typeof msg, 'object');
-        assert.ok('data' in msg);
-        assert.deepStrictEqual(msg.data, 'Greeting from publisher');
+      var subscription = node.createSubscription(
+        RclString,
+        'topic',
+        function (msg) {
+          assert.deepStrictEqual(typeof msg, 'object');
+          assert.ok('data' in msg);
+          assert.deepStrictEqual(msg.data, 'Greeting from publisher');
 
-        if (!destroy) {
-          publisher.kill('SIGINT');
-          node.destroy();
-          destroy = true;
-          done();
+          if (!destroy) {
+            publisher.kill('SIGINT');
+            node.destroy();
+            destroy = true;
+            done();
+          }
         }
-      });
+      );
       rclnodejs.spin(node);
     });
   });