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SocketAdapter TypeScript refactor #926

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SocketAdapter TypeScript refactor #926

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19cc0d9
refactor(cbor): Switch to `cbor2` library.
drewhoener Aug 8, 2025
f68a68b
refactor(SocketAdapter): Rename from JS to TS.
drewhoener Aug 16, 2025
b6bd560
refactor(BSON): Add type extension for global bson object since it's …
drewhoener Aug 16, 2025
1d3b5ca
refactor(types): Add types to describe the RosBridge protocol and rel…
drewhoener Aug 18, 2025
763400b
feat(type-utils): Add type utils module
drewhoener Aug 18, 2025
988cb0b
refactor(SocketAdapter): Convert SocketAdapter module to typescript
drewhoener Aug 18, 2025
7068a0d
refactor(eslint): Allow explicit any for types we might have to coerc…
drewhoener Aug 18, 2025
8004243
refactor(GoalStatus): Remove old GoalStatus enum, point to new types …
drewhoener Aug 19, 2025
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3 changes: 3 additions & 0 deletions eslint.config.js
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,9 @@ export default tseslint.config(
parserOptions: {
projectService: true,
},
},
rules: {
'@typescript-eslint/no-explicit-any': 0,
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Personally I'd prefer we hold unknown data in unknown not any, but I won't be super picky about that if you feel strongly since I could see it being a barrier to contribution for people who aren't TypeScript experts.

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I can defer this one, I had it at one point because I had a really uncooperative type but I ended up smoothing it out. It can probably be dropped for now

}
},
{
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26 changes: 21 additions & 5 deletions package-lock.json
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2 changes: 1 addition & 1 deletion package.json
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@
},
"dependencies": {
"@xmldom/xmldom": "^0.9.0",
"cbor-js": "^0.1.0",
"cbor2": "^2.0.1",
"eventemitter3": "^5.0.1",
"pngparse": "^2.0.0",
"ws": "^8.0.0"
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8 changes: 4 additions & 4 deletions src/core/Action.js
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Expand Up @@ -5,7 +5,7 @@

import { EventEmitter } from 'eventemitter3';
import Ros from '../core/Ros.js';
import { GoalStatus } from '../core/GoalStatus.ts';
import { GoalStatus } from '../types/RosMessageTypes.js';

/**
* A ROS 2 action client.
Expand Down Expand Up @@ -217,7 +217,7 @@ export default class Action extends EventEmitter {
id: id,
action: this.name,
values: result,
status: GoalStatus.STATUS_SUCCEEDED,
status: GoalStatus.Succeeded,
result: true
};
this.ros.callOnConnection(call);
Expand All @@ -235,7 +235,7 @@ export default class Action extends EventEmitter {
id: id,
action: this.name,
values: result,
status: GoalStatus.STATUS_CANCELED,
status: GoalStatus.Canceled,
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Isn't changing these member names technically an API-breaking change?

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I didn't think so. GoalStatus was just used in Action and wasn't exported from an index.js file, so it wasn't exposed in the actual "public api". People might have been using it, but it would've been from the dist folder which IMO doesn't count as public API. Happy to discuss it though

result: true
};
this.ros.callOnConnection(call);
Expand All @@ -251,7 +251,7 @@ export default class Action extends EventEmitter {
op: 'action_result',
id: id,
action: this.name,
status: GoalStatus.STATUS_ABORTED,
status: GoalStatus.Aborted,
result: false
};
this.ros.callOnConnection(call);
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14 changes: 0 additions & 14 deletions src/core/GoalStatus.ts
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143 changes: 0 additions & 143 deletions src/core/SocketAdapter.js
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looks like git mv isn't cooperating here..

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If you want the file history I can do the same dance with the linter/checker we did before?

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