Merge branch 'REV/main' into fix/upstream-build-changes

Refactored 'runtimeArtifactsPath' to use 'path' instead of manual entry, which might break on some platforms. Also updated names of prebuild artifacts.

.gitignore

@@ -5,3 +5,4 @@ prebuilds/
 dist/
 externalCompileTimeDeps/
 temp/
+cmake-build-*/

CMakeLists.txt

@@ -0,0 +1,98 @@
+cmake_minimum_required(VERSION 3.15)
+cmake_policy(SET CMP0091 NEW)
+cmake_policy(SET CMP0042 NEW)
+
+set (CMAKE_CXX_STANDARD 20)
+
+project(node_canbridge)
+
+if(NOT CMAKE_JS_INC)
+    include("cmake-js.cmake")
+    setup_cmakejs()
+endif ()
+
+if(NOT EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/node_modules)
+    message(FATAL_ERROR "You must run 'npm install' in order for NAPI to be available")
+endif()
+
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+if(MSVC AND CMAKE_JS_NODELIB_DEF AND CMAKE_JS_NODELIB_TARGET)
+    # Generate node.lib
+    execute_process(COMMAND ${CMAKE_AR} /def:${CMAKE_JS_NODELIB_DEF} /out:${CMAKE_JS_NODELIB_TARGET} ${CMAKE_STATIC_LINKER_FLAGS})
+endif()
+
+# Set some things up for cross-compiling on Linux using clang
+if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    if(SYSTEM STREQUAL "LinuxX64")
+        add_compile_options("-target" "x86_64-pc-linux-gnu")
+    elseif(SYSTEM STREQUAL "LinuxArm64")
+        add_compile_options("-target" "aarch64-pc-linux-gnu")
+        add_link_options("-target" "aarch64-pc-linux-gnu" "-fuse-ld=/usr/bin/aarch64-linux-gnu-ld")
+    endif()
+endif()
+
+add_definitions(-DNAPI_VERSION=9) # Keep in sync with binding-options.cjs, package.json binary.napi_version, and package.json prepublishOnly
+add_definitions(-DNAPI_DISABLE_CPP_EXCEPTIONS)
+
+set(SOURCES
+        src/addon.cc
+        src/canWrapper.cc
+)
+
+# Include the node-addon-api wrapper for Node-API
+# TODO: Figure out if this todo applies. I honestly copied it from an older project
+# TODO: Figure out why the build breaks without this, given that the CMake.js README
+#       says that it will "add [node-addon-api] to the include search path automatically"
+#       https://github.com/cmake-js/cmake-js/tree/6a2a50ba3d2e82a0ea80a8bb77cd2d3a03fb838c#node-api-and-node-addon-api
+execute_process(COMMAND node -p "require('node-addon-api').include"
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+        OUTPUT_VARIABLE NODE_ADDON_API_DIR
+)
+
+string(REPLACE "\n" "" NODE_ADDON_API_DIR ${NODE_ADDON_API_DIR})
+string(REPLACE "\"" "" NODE_ADDON_API_DIR ${NODE_ADDON_API_DIR})
+
+include_directories(${NODE_ADDON_API_DIR} ${CMAKE_JS_INC} ${CMAKE_CURRENT_SOURCE_DIR}/src
+        ${CMAKE_CURRENT_SOURCE_DIR}/externalCompileTimeDeps/include)
+
+add_library(${PROJECT_NAME} SHARED ${SOURCES} ${CMAKE_JS_SRC})
+set_target_properties(${PROJECT_NAME} PROPERTIES PREFIX "" SUFFIX ".node")
+target_link_libraries(${PROJECT_NAME} ${CMAKE_JS_LIB} CANBridge wpiHal wpiutil)
+
+target_link_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/externalCompileTimeDeps)
+
+# The ones that don't exist are just skipped
+target_link_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-linux-x64)
+target_link_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-linux-arm64)
+target_link_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-linux-arm32)
+target_link_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-darwin-osxuniversal)
+
+include(move-files.cmake)
+
+foreach(CONFIG_TYPE IN LISTS CMAKE_CONFIGURATION_TYPES)
+    # Windows
+    create_move_target(CANBridge.dll ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-win32-x64/CANBridge.dll ${CONFIG_TYPE}/CANBridge.dll)
+    create_move_target(wpiHal.dll ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-win32-x64/wpiHal.dll ${CONFIG_TYPE}/wpiHal.dll)
+    create_move_target(wpiUtil.dll ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-win32-x64/wpiUtil.dll ${CONFIG_TYPE}/wpiUtil.dll)
+
+    # Linux x64
+    create_move_target(CANBridge.so ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-linux-x64/CANBridge.so ${CONFIG_TYPE}/CANBridge.so)
+    create_move_target(wpiHal.so ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-linux-x64/wpiHal.so ${CONFIG_TYPE}/wpiHal.so)
+    create_move_target(wpiUtil.so ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-linux-x64/wpiUtil.so ${CONFIG_TYPE}/wpiUtil.so)
+
+    # Linux Arm 32
+    create_move_target(CANBridge.so ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-linux-arm32/CANBridge.so ${CONFIG_TYPE}/CANBridge.so)
+    create_move_target(wpiHal.so ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-linux-arm32/wpiHal.so ${CONFIG_TYPE}/wpiHal.so)
+    create_move_target(wpiUtil.so ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-linux-arm32/wpiUtil.so ${CONFIG_TYPE}/wpiUtil.so)
+
+    # Linux Arm 64
+    create_move_target(CANBridge.so ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-linux-arm64/CANBridge.so ${CONFIG_TYPE}/CANBridge.so)
+    create_move_target(wpiHal.so ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-linux-arm64/wpiHal.so ${CONFIG_TYPE}/wpiHal.so)
+    create_move_target(wpiUtil.so ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-linux-arm64/wpiUtil.so ${CONFIG_TYPE}/wpiUtil.so)
+
+    # macOS
+    create_move_target(CANBridge.dylib ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-darwin-osxuniversal/CANBridge.dylib ${CONFIG_TYPE}/CANBridge.dylib)
+    create_move_target(wpiHal.dylib ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-darwin-osxuniversal/wpiHal.dylib ${CONFIG_TYPE}/wpiHal.dylib)
+    create_move_target(wpiUtil.dylib ${CMAKE_CURRENT_SOURCE_DIR}/prebuilds/node_canbridge-darwin-osxuniversal/wpiUtil.dylib ${CONFIG_TYPE}/wpiUtil.dylib)
+endforeach()

binding-options.cjs

@@ -0,0 +1,4 @@
+module.exports = {
+    name: 'node_canbridge',
+    napi_versions: [9], // Keep in sync with CMakeLists.txt, package.json binary.napi_version, and package.json prepublishOnly
+}

cmake-js.cmake

@@ -0,0 +1,87 @@
+# This exists for pure-CMake builds, mainly useful for IDEs.
+function(setup_cmakejs)
+    find_program(CMAKEJS "cmake-js")
+    find_program(NPM "npm")
+    # first, check if we have NPM:
+    if(NPM)
+        message(VERBOSE "NPM found.")
+    else()
+        message(FATAL_ERROR "NPM not found. This project requires Node.js")
+    endif()
+
+    if(CMAKEJS)
+        message(VERBOSE "CMake.js found.")
+    else()
+        message(ERROR "CMake.js not found, installing globally...")
+        execute_process(COMMAND ${NPM_COMMAND} install -g cmake-js
+                WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+                OUTPUT_VARIABLE NPM_OUTPUT)
+        message(STATUS "CMake.js should now be installed.")
+        message(VERBOSE ${NPM_OUTPUT})
+    endif()
+
+
+    if(WIN32)
+        set(NPM_COMMAND ${NPM}.cmd)
+        set(CMAKEJS_CMD ${CMAKEJS}.cmd)
+    else()
+        set(NPM_COMMAND ${NPM})
+        set(CMAKEJS_CMD ${CMAKEJS})
+    endif()
+
+    function(GET_VARIABLE INPUT_STRING VARIABLE_TO_SELECT OUTPUT_VARIABLE)
+        set(SEARCH_STRING "${VARIABLE_TO_SELECT}=\"")
+        string(LENGTH "${SEARCH_STRING}" SEARCH_STRING_LENGTH)
+        string(LENGTH "${INPUT_STRING}" INPUT_STRING_LENGTH)
+
+        string(REPLACE "\\\\" "\\" INPUT_STRING "${INPUT_STRING}")
+
+        string(FIND "${INPUT_STRING}" "${VARIABLE_TO_SELECT}=\"" SEARCH_STRING_INDEX)
+
+        if(SEARCH_STRING_INDEX EQUAL -1)
+            string(FIND "${INPUT_STRING}" "${VARIABLE_TO_SELECT}=" SEARCH_STRING_INDEX)
+
+            math(EXPR SEARCH_STRING_INDEX "${SEARCH_STRING_INDEX}+${SEARCH_STRING_LENGTH}-1")
+
+            string(SUBSTRING "${INPUT_STRING}" ${SEARCH_STRING_INDEX} ${INPUT_STRING_LENGTH} AFTER_SEARCH_STRING)
+            string(FIND "${AFTER_SEARCH_STRING}" "'" QUOTE_INDEX)
+            string(SUBSTRING "${AFTER_SEARCH_STRING}" "0" "${QUOTE_INDEX}" RESULT_STRING)
+            set("${OUTPUT_VARIABLE}" "${RESULT_STRING}" PARENT_SCOPE)
+
+        else()
+            math(EXPR SEARCH_STRING_INDEX "${SEARCH_STRING_INDEX}+${SEARCH_STRING_LENGTH}")
+
+            string(SUBSTRING "${INPUT_STRING}" ${SEARCH_STRING_INDEX} ${INPUT_STRING_LENGTH} AFTER_SEARCH_STRING)
+            string(FIND "${AFTER_SEARCH_STRING}" "\"" QUOTE_INDEX)
+            string(SUBSTRING "${AFTER_SEARCH_STRING}" "0" "${QUOTE_INDEX}" RESULT_STRING)
+            set("${OUTPUT_VARIABLE}" "${RESULT_STRING}" PARENT_SCOPE)
+
+        endif()
+    endfunction(GET_VARIABLE)
+
+    string(TOLOWER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_LOWER)
+    if (CMAKE_BUILD_TYPE_LOWER STREQUAL "debug")
+        execute_process(COMMAND "${CMAKEJS_CMD}" print-configure --debug
+                WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+                OUTPUT_VARIABLE CMAKE_JS_OUTPUT
+        )
+    else()
+        execute_process(COMMAND "${CMAKEJS_CMD}" print-configure
+                WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+                OUTPUT_VARIABLE CMAKE_JS_OUTPUT
+        )
+    endif ()
+
+    message(VERBOSE ${CMAKE_JS_OUTPUT})
+
+    get_variable("${CMAKE_JS_OUTPUT}" "CMAKE_JS_INC" CMAKE_JS_INC)
+    set(CMAKE_JS_INC "${CMAKE_JS_INC}" PARENT_SCOPE)
+
+    get_variable("${CMAKE_JS_OUTPUT}" "CMAKE_JS_LIB" CMAKE_JS_LIB)
+    set(CMAKE_JS_LIB "${CMAKE_JS_LIB}" PARENT_SCOPE)
+
+    get_variable("${CMAKE_JS_OUTPUT}" "CMAKE_LIBRARY_OUTPUT_DIRECTORY" CMAKE_LIBRARY_OUTPUT_DIRECTORY)
+    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}" PARENT_SCOPE)
+
+    message(STATUS "[CMakeJS] Set up variables.")
+endfunction(setup_cmakejs)

lib/binding.ts

@@ -33,8 +33,7 @@ export enum ThreadPriority {
     PriorityError
 }
 
-// Needs to match HAL_CAN_IS_FRAME_REMOTE
-export const RTR_FRAME_BIT = 0x80000000;
+let bindingOptions = require("../binding-options.cjs");
 
 export class CanBridgeInitializationError extends Error {
     cause: any;
@@ -54,6 +53,7 @@ export class CanBridge {
     readStreamSession: (descriptor:string, sessionHandle:number, messagesToRead:number) => CanMessage[];
     closeStreamSession: (descriptor:string, sessionHandle:number) => number;
     getCANDetailStatus: (descriptor:string) => CanDeviceStatus;
+    sendRtrMessage: (descriptor:string, messageId: number, messageData: number[], repeatPeriod: number) => number;
     sendCANMessage: (descriptor:string, messageId: number, messageData: number[], repeatPeriod: number) => number;
     sendHALMessage: (messageId: number, messageData: number[], repeatPeriod: number) => number;
     initializeNotifier: () => void;
@@ -71,7 +71,7 @@ export class CanBridge {
 
     constructor() {
         try {
-            const addon = require('node-gyp-build')(path.join(__dirname, '..'));
+            const addon = require("pkg-prebuilds")(path.join(__dirname, '..'), bindingOptions);
 
             this.getDevices = promisify(addon.getDevices);
             this.registerDeviceToHAL = addon.registerDeviceToHAL;
@@ -81,6 +81,7 @@ export class CanBridge {
             this.readStreamSession = addon.readStreamSession;
             this.closeStreamSession = addon.closeStreamSession;
             this.getCANDetailStatus = addon.getCANDetailStatus;
+            this.sendRtrMessage = addon.sendRtrMessage;
             this.sendCANMessage = addon.sendCANMessage;
             this.sendHALMessage = addon.sendHALMessage;
             this.initializeNotifier = addon.initializeNotifier;

move-files.cmake

@@ -0,0 +1,6 @@
+
+function (create_move_target name src dest)
+    if(EXISTS ${src})
+        configure_file(${src} ${dest} COPYONLY)
+    endif()
+endfunction()