support node 14

.circleci/config.yml

@@ -26,8 +26,8 @@ jobs:
     - run: wget -qO- https://github.com/raw/nvm-sh/nvm/v0.37.0/install.sh | bash
     - run: echo "source $HOME/.bashrc" >> ~/.bash_profile
     - run: cat ~/.bash_profile
-    - run: nvm install v12.20.0
-    - run: nvm alias default v12.20.0
+    - run: nvm install 14
+    - run: nvm alias default 14
     - run: node --version && npm --version && rm -rf ./node_modules/
     - run: source ~/ros2_install/ros2-osx/local_setup.bash && git submodule init && git submodule update && npm install --python=python2.7
     - run: export PATH="/usr/local/opt/python@2/libexec/bin:$PATH" && npm run lint

Dockerfile

@@ -39,7 +39,7 @@ RUN rosdep install --from-paths $ROS2_WS/ros2-linux/share --ignore-src --rosdist
 RUN echo "source $ROS2_WS/ros2-linux/local_setup.bash" >> $HOME/.bashrc
 
 # Install nvm, Node.js and node-gyp
-ENV NODE_VERSION v12.20.0
+ENV NODE_VERSION 14
 RUN wget -qO- https://github.com/raw/nvm-sh/nvm/v0.37.0/install.sh | bash
 
 ENV PATH /bin/versions/node/$NODE_VERSION/bin:$PATH

appveyor.yml

@@ -7,7 +7,7 @@ branches:
 image: Visual Studio 2019
 
 environment:
-  nodejs_version: "12"
+  nodejs_version: "14"
   PYTHON3: "c:\\Python37-x64"
   PYTHON2: "c:\\Python27"
 

benchmark/rclcpp/service/client-stress-test.cpp

@@ -22,11 +22,10 @@
 #include "utilities.hpp"
 
 void ShowUsage(const std::string name) {
-    std::cerr << "Usage: " << name << " [options]\n"
-              << "\nOptions:\n"
-              << "\n--run <n>     \tHow many times to run\n"
-              << "--help          \toutput usage information"
-              << std::endl;
+  std::cerr << "Usage: " << name << " [options]\n"
+            << "\nOptions:\n"
+            << "\n--run <n>     \tHow many times to run\n"
+            << "--help          \toutput usage information" << std::endl;
 }
 
 int main(int argc, char* argv[]) {
@@ -36,15 +35,16 @@ int main(int argc, char* argv[]) {
   for (int i = 1; i < argc; i++) {
     std::string arg = argv[i];
     if ((arg == "-h") || (arg == "--help")) {
-        ShowUsage(argv[0]);
-        return 0;
+      ShowUsage(argv[0]);
+      return 0;
     } else if (arg.find("--run=") != std::string::npos) {
-        total_times = std::stoi(arg.substr(arg.find("=") + 1));
+      total_times = std::stoi(arg.substr(arg.find("=") + 1));
     }
   }
   printf(
       "The client will send a GetMap request continuously until receiving "
-      "response %d times.\n", total_times);
+      "response %d times.\n",
+      total_times);
 
   auto start = std::chrono::high_resolution_clock::now();
   auto node = rclcpp::Node::make_shared("stress_client_rclcpp");

benchmark/rclcpp/topic/publisher-stress-test.cpp

@@ -23,28 +23,27 @@
 #include "utilities.hpp"
 
 void ShowUsage(const std::string name) {
-    std::cerr << "Usage: " << name << " [options]\n"
-              << "\nOptions:\n"
-              << "\n--size=[size_kb]\tThe block size\n"
-              << "--run=<n>         \tHow many times to run\n"
-              << "--help            \toutput usage information"
-              << std::endl;
+  std::cerr << "Usage: " << name << " [options]\n"
+            << "\nOptions:\n"
+            << "\n--size=[size_kb]\tThe block size\n"
+            << "--run=<n>         \tHow many times to run\n"
+            << "--help            \toutput usage information" << std::endl;
 }
 
 int main(int argc, char* argv[]) {
   auto total_times = 0;
   auto amount = 0;
 
   for (int i = 1; i < argc; i++) {
-      std::string arg = argv[i];
-      if ((arg == "-h") || (arg == "--help")) {
-          ShowUsage(argv[0]);
-          return 0;
-      } else if (arg.find("--size=") != std::string::npos) {
-          amount = std::stoi(arg.substr(arg.find("=") + 1));
-      } else if (arg.find("--run=") != std::string::npos) {
-          total_times = std::stoi(arg.substr(arg.find("=") + 1));
-      }
+    std::string arg = argv[i];
+    if ((arg == "-h") || (arg == "--help")) {
+      ShowUsage(argv[0]);
+      return 0;
+    } else if (arg.find("--size=") != std::string::npos) {
+      amount = std::stoi(arg.substr(arg.find("=") + 1));
+    } else if (arg.find("--run=") != std::string::npos) {
+      total_times = std::stoi(arg.substr(arg.find("=") + 1));
+    }
   }
 
   rclcpp::init(argc, argv);
@@ -74,12 +73,13 @@ int main(int argc, char* argv[]) {
 
   printf(
       "The publisher will publish a UInt8MultiArray topic(contains a size of "
-      "%dKB array) %d times.\n", amount, total_times);
+      "%dKB array) %d times.\n",
+      amount, total_times);
 
   auto start = std::chrono::high_resolution_clock::now();
   auto node = rclcpp::Node::make_shared("stress_publisher_rclcpp");
-  auto publisher =
-      node->create_publisher<std_msgs::msg::UInt8MultiArray>("stress_topic", 10);
+  auto publisher = node->create_publisher<std_msgs::msg::UInt8MultiArray>(
+      "stress_topic", 10);
   auto sent_times = 0;
 
   while (rclcpp::ok()) {

benchmark/rclcpp/topic/subscription-stress-test.cpp

@@ -19,8 +19,7 @@ int main(int argc, char* argv[]) {
   rclcpp::init(argc, argv);
   auto node = rclcpp::Node::make_shared("stress_subscription_rclcpp");
   auto sub = node->create_subscription<std_msgs::msg::UInt8MultiArray>(
-      "stress_topic",
-      10,
+      "stress_topic", 10,
       [](std_msgs::msg::UInt8MultiArray::SharedPtr msg) { (void)msg; });
   rclcpp::spin(node);
 

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);
   },

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;

src/rcl_bindings.cpp

@@ -909,6 +909,7 @@ NAN_METHOD(RclTakeRequest) {
     return;
   }
 
+  free(header);
   info.GetReturnValue().Set(Nan::Undefined());
 }
 
@@ -1794,8 +1795,6 @@ std::vector<BindingMethod> binding_methods = {
     {"getNamespace", GetNamespace},
     {"initString", InitString},
     {"freeMemeoryAtOffset", FreeMemeoryAtOffset},
-    {"createArrayBufferFromAddress", CreateArrayBufferFromAddress},
-    {"createArrayBufferCleaner", CreateArrayBufferCleaner},
     {"setLoggerLevel", setLoggerLevel},
     {"getLoggerEffectiveLevel", GetLoggerEffectiveLevel},
     {"getNodeLoggerName", GetNodeLoggerName},