Rename scripts/generators to .cjs for ESM migration

binding.gyp

@@ -8,10 +8,10 @@
     }
   },
   'variables': {
-    'ros_version': '<!(node scripts/ros_distro.js)',
+    'ros_version': '<!(node scripts/ros_distro.cjs)',
     'runtime%': 'node',
-    'ros_lib_dir': "<!(node -p \"require('./scripts/config.js').getROSLibPath()\")",
-    'ros_include_root': "<!(node -p \"require('./scripts/config.js').getROSIncludeRootPath()\")",
+    'ros_lib_dir': "<!(node -p \"require('./scripts/config.cjs').getROSLibPath()\")",
+    'ros_include_root': "<!(node -p \"require('./scripts/config.cjs').getROSIncludeRootPath()\")",
     'node_major_version': '<!(node -p \"process.versions.node.split(\'.\')[0]\")',
   },
   'targets': [
@@ -167,7 +167,7 @@
           # After Galactic, e.g., Humble, Jazzy, Rolling.
           'ros_version > 2105', {
             'include_dirs': [
-              "<!@(node -p \"require('./scripts/config.js').getIncludePaths().forEach(p => console.log(JSON.stringify(p)))\")"
+              "<!@(node -p \"require('./scripts/config.cjs').getIncludePaths().forEach(p => console.log(JSON.stringify(p)))\")"
             ],
             'library_dirs': [
               '<(ros_lib_dir)',

example/rosidl/README.md

@@ -289,7 +289,7 @@ Each parsed field contains these properties:
 ### Message Parsing
 
 ```javascript
-const parser = require('../rosidl_parser/rosidl_parser.js');
+const parser = require('../rosidl_parser/rosidl_parser.cjs');
 
 parser.parseMessageFile(packageName, packagePath).then((spec) => {
   console.log(`Message: ${spec.msgName}`);

example/rosidl/rosidl-parse-action-example.js

@@ -15,7 +15,7 @@
 const rosInstallPath = process.env.AMENT_PREFIX_PATH;
 const packageName = 'test_msgs';
 const packagePath = rosInstallPath + '/share/test_msgs/action/Fibonacci.action';
-const parser = require('../../rosidl_parser/rosidl_parser.js');
+const parser = require('../../rosidl_parser/rosidl_parser.cjs');
 
 parser
   .parseActionFile(packageName, packagePath)

example/rosidl/rosidl-parse-msg-example.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const parser = require('../../rosidl_parser/rosidl_parser.js');
+const parser = require('../../rosidl_parser/rosidl_parser.cjs');
 
 const rosInstallPath = process.env.AMENT_PREFIX_PATH;
 const packageName = 'std_msgs';

example/rosidl/rosidl-parse-srv-example.js

@@ -14,7 +14,7 @@
 
 'use strict';
 
-const parser = require('../../rosidl_parser/rosidl_parser.js');
+const parser = require('../../rosidl_parser/rosidl_parser.cjs');
 
 const rosInstallPath = process.env.AMENT_PREFIX_PATH;
 const packageName = 'std_srvs';

index.js

@@ -25,7 +25,7 @@ const Context = require('./lib/context.js');
 const debug = require('debug')('rclnodejs');
 const Duration = require('./lib/duration.js');
 const fs = require('fs');
-const generator = require('./rosidl_gen/index.js');
+const generator = require('./rosidl_gen/index.cjs');
 const loader = require('./lib/interface_loader.js');
 const logging = require('./lib/logging.js');
 const NodeOptions = require('./lib/node_options.js');
@@ -40,7 +40,7 @@ const {
 const path = require('path');
 const QoS = require('./lib/qos.js');
 const rclnodejs = require('./lib/native_loader.js');
-const tsdGenerator = require('./rostsd_gen/index.js');
+const tsdGenerator = require('./rostsd_gen/index.cjs');
 const validator = require('./lib/validator.js');
 const Time = require('./lib/time.js');
 const ActionClient = require('./lib/action/client.js');

lib/interface_loader.js

@@ -16,7 +16,7 @@
 
 const path = require('path');
 const fs = require('fs');
-const generator = require('../rosidl_gen/index.js');
+const generator = require('../rosidl_gen/index.cjs');
 const { TypeValidationError, ValidationError } = require('./errors.js');
 
 let interfaceLoader = {

lib/message_introspector.js

@@ -15,7 +15,7 @@
 'use strict';
 
 const loader = require('./interface_loader.js');
-const { toPlainObject } = require('../rosidl_gen/message_translator.js');
+const { toPlainObject } = require('../rosidl_gen/message_translator.cjs');
 const { TypeValidationError } = require('./errors.js');
 
 /**

package.json

@@ -2,7 +2,7 @@
   "name": "rclnodejs",
   "version": "1.7.0",
   "description": "ROS2.0 JavaScript client with Node.js",
-  "main": "index.js",
+  "main": "./index.js",
   "types": "types/index.d.ts",
   "keywords": [
     "rclnodejs",
@@ -17,24 +17,24 @@
     "build:dev": "node-gyp -j 16 build --debug",
     "rebuild": "npm run clean && node-gyp -j 16 rebuild",
     "rebuild:dev": "npm run clean && node-gyp -j 16 rebuild --debug",
-    "generate-messages": "node scripts/generate_messages.js",
-    "generate-messages-idl": "node scripts/generate_messages.js --idl",
-    "generate-messages:dev": "node scripts/generate_messages.js --debug",
-    "generate-tsd-messages": "node scripts/generate_tsd.js",
+    "generate-messages": "node scripts/generate_messages.cjs",
+    "generate-messages-idl": "node scripts/generate_messages.cjs --idl",
+    "generate-messages:dev": "node scripts/generate_messages.cjs --debug",
+    "generate-tsd-messages": "node scripts/generate_tsd.cjs",
     "clean": "node-gyp clean && npx rimraf ./generated",
-    "install": "node scripts/install.js",
+    "install": "node scripts/install.cjs",
     "postinstall": "npm run generate-messages",
     "docs": "cd docs && make",
-    "test": "nyc node --expose-gc ./scripts/run_test.js && tsd",
-    "test-idl": "nyc node --expose-gc ./scripts/run_test.js --idl",
-    "lint": "eslint && node ./scripts/cpplint.js",
+    "test": "nyc node --expose-gc ./scripts/run_test.cjs && tsd",
+    "test-idl": "nyc node --expose-gc ./scripts/run_test.cjs --idl",
+    "lint": "eslint && node ./scripts/cpplint.cjs",
     "format": "clang-format -i -style=file ./src/*.cpp ./src/*.h && npx --yes prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark,rostsd_gen}/**/*.{js,md,ts}\" ./*.{js,md,ts}",
     "prepare": "husky",
     "coverage": "cat ./coverage/lcov.info | ./node_modules/coveralls/bin/coveralls.js",
-    "prebuild": "prebuildify --napi --strip --target 16.20.2 --target electron@23.0.0 && node scripts/tag_prebuilds.js"
+    "prebuild": "prebuildify --napi --strip --target 16.20.2 --target electron@23.0.0 && node scripts/tag_prebuilds.cjs"
   },
   "bin": {
-    "generate-ros-messages": "./scripts/generate_messages.js"
+    "generate-ros-messages": "./scripts/generate_messages.cjs"
   },
   "authors": [
     "Minggang Wang <minggangw@gmail.com>",
@@ -100,6 +100,6 @@
     "directory": "test/types"
   },
   "engines": {
-    "node": ">= 16.13.0"
+    "node": ">= 18.0.0"
   }
 }

rosidl_convertor/idl_convertor.js → rosidl_convertor/idl_convertor.cjs

@@ -19,7 +19,7 @@ const path = require('path');
 const fse = require('../lib/utils.js');
 const execFile = require('child_process').execFile;
 const pythonExecutable =
-  require('../rosidl_parser/py_utils').getPythonExecutable('python3');
+  require('../rosidl_parser/py_utils.cjs').getPythonExecutable('python3');
 
 async function convertIDLToROS2IDL(pkgName, idlFilePath, outputDir) {
   const packagePath = path.join(outputDir, pkgName);

rosidl_gen/generate_worker.js → rosidl_gen/generate_worker.cjs

@@ -13,10 +13,10 @@
 // limitations under the License.
 
 const fse = require('../lib/utils.js');
-const generateJSStructFromIDL = require('./idl_generator.js');
-const packages = require('./packages.js');
+const generateJSStructFromIDL = require('./idl_generator.cjs');
+const packages = require('./packages.cjs');
 const path = require('path');
-const idlConvertor = require('../rosidl_convertor/idl_convertor.js');
+const idlConvertor = require('../rosidl_convertor/idl_convertor.cjs');
 
 const generatedRoot = path.join(__dirname, '../generated/');
 const idlPath = path.join(generatedRoot, 'share');

rosidl_gen/idl_generator.js → rosidl_gen/idl_generator.cjs

@@ -16,13 +16,13 @@
 
 const fse = require('../lib/utils.js');
 const path = require('path');
-const parser = require('../rosidl_parser/rosidl_parser.js');
-const actionMsgs = require('./action_msgs.js');
+const parser = require('../rosidl_parser/rosidl_parser.cjs');
+const actionMsgs = require('./action_msgs.cjs');
 const DistroUtils = require('../lib/distro.js');
-const generateMessage = require('./templates/message-template.js');
-const generateService = require('./templates/service-template.js');
-const generateAction = require('./templates/action-template.js');
-const generateServiceEvent = require('./templates/service-event-template.js');
+const generateMessage = require('./templates/message-template.cjs');
+const generateService = require('./templates/service-template.cjs');
+const generateAction = require('./templates/action-template.cjs');
+const generateServiceEvent = require('./templates/service-event-template.cjs');
 
 const isDebug = !!process.argv.find((arg) => arg === '--debug');
 

rosidl_gen/index.js → rosidl_gen/index.cjs

@@ -15,10 +15,10 @@
 'use strict';
 
 const fse = require('../lib/utils.js');
-const generateJSStructFromIDL = require('./idl_generator.js');
-const packages = require('./packages.js');
+const generateJSStructFromIDL = require('./idl_generator.cjs');
+const packages = require('./packages.cjs');
 const path = require('path');
-const idlConvertor = require('../rosidl_convertor/idl_convertor.js');
+const idlConvertor = require('../rosidl_convertor/idl_convertor.cjs');
 const generatedRoot = path.join(__dirname, '../generated/');
 const serviceMsgPath = path.join(generatedRoot, 'srv_msg');
 const idlPath = path.join(generatedRoot, 'share');
@@ -58,7 +58,7 @@ function generateInPathSyncWorker(targetPath) {
     // Use child_process.spawnSync for truly synchronous execution
     const result = require('child_process').spawnSync(
       'node',
-      [path.join(__dirname, 'generate_worker.js')],
+      [path.join(__dirname, 'generate_worker.cjs')],
       {
         env: { ...process.env, WORKER_TARGET_PATH: targetPath },
         encoding: 'utf8',

rosidl_gen/packages.js → rosidl_gen/packages.cjs

@@ -20,7 +20,7 @@ const readline = require('readline');
 const path = require('path');
 const walk = require('walk');
 const os = require('os');
-const pkgFilters = require('../rosidl_gen/filter.js');
+const pkgFilters = require('../rosidl_gen/filter.cjs');
 
 const fsp = fs.promises;
 

rosidl_gen/templates/message-template.js → rosidl_gen/templates/message-template.cjs

@@ -295,9 +295,9 @@ ${willUseTypedArray ? "const rclnodejs = require('../../lib/native_loader.js');"
 const ref = require('../../third_party/ref-napi');
 const StructType = require('@rclnodejs/ref-struct-di')(ref);
 const ArrayType = require('@rclnodejs/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 primitiveTypes = require('../../rosidl_gen/primitive_types.cjs');
+const deallocator = require('../../rosidl_gen/deallocator.cjs');
+const translator = require('../../rosidl_gen/message_translator.cjs');
 
 ${spec.fields
   .map((field) => {

rosidl_parser/rosidl_parser.js → rosidl_parser/rosidl_parser.cjs

@@ -18,7 +18,7 @@ const { compareVersions } = require('../lib/utils.js');
 const path = require('path');
 const execFile = require('child_process').execFile;
 
-const pythonExecutable = require('./py_utils').getPythonExecutable('python3');
+const pythonExecutable = require('./py_utils.cjs').getPythonExecutable('python3');
 
 const contextSupportedVersion = '21.0.0.0';
 const currentVersion = process.version;

rostsd_gen/index.js → rostsd_gen/index.cjs

@@ -29,7 +29,7 @@ const os = require('os');
 const path = require('path');
 const fs = require('fs');
 const loader = require('../lib/interface_loader.js');
-const pkgFilters = require('../rosidl_gen/filter.js');
+const pkgFilters = require('../rosidl_gen/filter.cjs');
 
 const descriptorInterfaceNamespace = 'descriptor';
 

rostsd_gen/readme.md

@@ -9,5 +9,5 @@ Run this script every time new interfaces are generated, see script/generate_mes
 You can update the interfaces.d.ts types manually by running the generate_tsd.js script.
 
 ```
-node node_modules/rclnodejs/scripts/generate_tsd.js
+node node_modules/rclnodejs/scripts/generate_tsd.cjs
 ```

scripts/generate_messages.js → scripts/generate_messages.cjs

@@ -17,8 +17,8 @@
 /* eslint-disable camelcase */
 'use strict';
 
-const generator = require('../rosidl_gen/index.js');
-const tsdGenerator = require('../rostsd_gen/index.js');
+const generator = require('../rosidl_gen/index.cjs');
+const tsdGenerator = require('../rostsd_gen/index.cjs');
 const useIDL = !!process.argv.find((arg) => arg === '--idl');
 
 async function main() {

scripts/generate_tsd.js → scripts/generate_tsd.cjs

@@ -12,7 +12,7 @@
 
 'use strict';
 
-const tsdGenerator = require('../rostsd_gen/index.js');
+const tsdGenerator = require('../rostsd_gen/index.cjs');
 
 console.log('Start TypeScript declaration file generation...');
 try {

test/test-array-data.js

@@ -17,7 +17,7 @@
 const assert = require('assert');
 const deepEqual = require('deep-equal');
 const rclnodejs = require('../index.js');
-const translator = require('../rosidl_gen/message_translator.js');
+const translator = require('../rosidl_gen/message_translator.cjs');
 const arrayGen = require('./array_generator.js');
 const { isTypedArray } = require('./utils.js');
 

test/test-lifecycle.js

@@ -321,7 +321,7 @@ describe('LifecycleNode test suite', function () {
     // TODO: refactor the version info to reusable location
     const GALACTIC_VERSION = 2105;
     const versionInfo = childProcess
-      .execSync('node scripts/ros_distro.js')
+      .execSync('node scripts/ros_distro.cjs')
       .toString('utf-8');
     const version =
       versionInfo && versionInfo.length > 0

test/test-message-object.js

@@ -30,7 +30,7 @@ describe('Rclnodejs createMessage() testing', function () {
   });
 
   it('Test .createMessage() for every message in system', function () {
-    const packages = require('../rosidl_gen/packages.js');
+    const packages = require('../rosidl_gen/packages.cjs');
     const installedPackagesRoot =
       os.type() === 'Windows_NT'
         ? process.env.AMENT_PREFIX_PATH.split(';')
@@ -171,7 +171,7 @@ describe('Rclnodejs createMessageObject() testing', function () {
   });
 
   it('Test .createMessageObject() for every message in system', function () {
-    const packages = require('../rosidl_gen/packages.js');
+    const packages = require('../rosidl_gen/packages.cjs');
     const installedPackagesRoot =
       os.type() === 'Windows_NT'
         ? process.env.AMENT_PREFIX_PATH.split(';')

test/test-messsage-generation-overlay.js

@@ -19,7 +19,7 @@ const childProcess = require('child_process');
 const fs = require('fs');
 const path = require('path');
 const rclnodejs = require('../index.js');
-const generator = require('../rosidl_gen/index.js');
+const generator = require('../rosidl_gen/index.cjs');
 
 const GENERATED_PATH = path.join(__dirname, '..', 'generated');
 const POINT_PATH = path.join(

test/test-rosidl-message-generator.js

@@ -101,7 +101,7 @@ describe('ROSIDL Node.js message generator test suite', function () {
 
   it('Try require all message classes', function () {
     this.timeout(60 * 1000);
-    const packages = require('../rosidl_gen/packages.js');
+    const packages = require('../rosidl_gen/packages.cjs');
     const installedPackagesRoot =
       os.type() === 'Windows_NT'
         ? process.env.AMENT_PREFIX_PATH.split(';')

test/test-security-related.js

@@ -17,7 +17,7 @@
 const assert = require('assert');
 const rclnodejs = require('../index.js');
 const assertThrowsError = require('./utils.js').assertThrowsError;
-const translator = require('../rosidl_gen/message_translator.js');
+const translator = require('../rosidl_gen/message_translator.cjs');
 const arrayGen = require('./array_generator.js');
 
 describe('Destroying non-existent objects testing', function () {