// Copyright (c) 2017 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.

#include <node_api.h>

#include <rcutils/logging.h>

#include "clock_event.hpp"

#include "macros.h"

#include "rcl_action_client_bindings.h"

#include "rcl_action_goal_bindings.h"

#include "rcl_action_server_bindings.h"

#include "rcl_bindings.h"

#include "rcl_client_bindings.h"

#include "rcl_context_bindings.h"

#include "rcl_graph_bindings.h"

#include "rcl_guard_condition_bindings.h"

#include "rcl_handle.h"

#include "rcl_lifecycle_bindings.h"

#include "rcl_logging_bindings.h"

#include "rcl_names_bindings.h"

#include "rcl_node_bindings.h"

#include "rcl_publisher_bindings.h"

#include "rcl_serialization_bindings.h"

#include "rcl_service_bindings.h"

#include "rcl_subscription_bindings.h"

#include "rcl_time_point_bindings.h"

#include "rcl_timer_bindings.h"

#if ROS_VERSION > 2205 // ROS2 > Humble

#include "rcl_event_handle_bindings.h"

#include "rcl_type_description_service_bindings.h"

#endif

#include "rcl_utilities.h"

#include "ref_napi_bindings.h"

#include "shadow_node.h"

bool IsRunningInElectronRenderer(const Napi::Env& env) {

Napi::Object global = env.Global();

Napi::Object process = global.Get("process").As<Napi::Object>();

Napi::Value processType = process.Get("type");

return processType.StrictEquals(Napi::String::New(env, "renderer"));

}

Napi::Object InitModule(Napi::Env env, Napi::Object exports) {

// workaround process name mangling by chromium

//

// rcl logging uses `program_invocation_name` to determine the log file,

// chromium mangles the program name to include all args, this causes a

// ENAMETOOLONG error when starting ros. Workaround is to replace the first

// occurence of ' -' with the null terminator. see:

// https://unix.stackexchange.com/questions/432419/unexpected-non-null-encoding-of-proc-pid-cmdline

#if defined(__linux__) && defined(__GLIBC__)

if (IsRunningInElectronRenderer(env)) {

auto prog_name = program_invocation_name;

auto end = strstr(prog_name, " -");

assert(end);

prog_name[end - prog_name] = 0;

}

#endif

rclnodejs::StoreEnv(env);

// Init the C++ bindings.

rclnodejs::InitBindings(env, exports);

rclnodejs::InitActionClientBindings(env, exports);

rclnodejs::InitActionGoalBindings(env, exports);

rclnodejs::InitActionServerBindings(env, exports);

rclnodejs::InitClientBindings(env, exports);

rclnodejs::InitClockEventBindings(env, exports);

rclnodejs::InitContextBindings(env, exports);

rclnodejs::InitGraphBindings(env, exports);

rclnodejs::InitGuardConditionBindings(env, exports);

rclnodejs::InitLoggingBindings(env, exports);

rclnodejs::InitNamesBindings(env, exports);

rclnodejs::InitNodeBindings(env, exports);

rclnodejs::InitPublisherBindings(env, exports);

rclnodejs::InitServiceBindings(env, exports);

rclnodejs::InitSubscriptionBindings(env, exports);

rclnodejs::InitTimePointBindings(env, exports);

rclnodejs::InitTimerBindings(env, exports);

#if ROS_VERSION > 2205 // ROS2 > Humble

rclnodejs::InitTypeDescriptionServiceBindings(env, exports);

rclnodejs::InitEventHandleBindings(env, exports);

#endif

rclnodejs::InitLifecycleBindings(env, exports);

rclnodejs::InitSerializationBindings(env, exports);

rclnodejs::ShadowNode::Init(env, exports);

rclnodejs::RclHandle::Init(env, exports);

exports.Set("ref", rclnodejs::InitRefNapi(env));

#ifdef DEBUG_ON

int result = rcutils_logging_set_logger_level(PACKAGE_NAME,

RCUTILS_LOG_SEVERITY_DEBUG);

RCUTILS_UNUSED(result);

#endif

return exports;

}

NODE_API_MODULE(rclnodejs, InitModule)