Improves typing support for clients and services

[wayneparrott]

Improve client and service typing support.

Key changes

• Converted the following main typescript classes created by Node to interfaces: Client, Entity, GuardCondition, Publisher, Rate, Subscription
• Refactored Client and Service to generic interfaces
• Refactored rostsd_gen/index.js to produce ServiceConstructors, Service and ServiceType types. All maps are generated with keys in alphabetical order. Also cleaned up the flow and improved consistency of the code.
• Updated service and client tests in test/type/main.ts

Fix #708

[wayneparrott]

Fixing the build error asap. I did not have test_interface_files pkg installed in my dev env.

update-1: At 1st glance, file generation from the generate_message is not generating the service msgs (_Request and _Response) for any of the test_interface_files/srv/*.srv files. The test_interface_files pkg has not been updated for over 13+ months. The test_msgs pkg appears to be the replacement for test_interface_files has been updated as recently as yesterday and is processed with no issues by the generate_messages script.

I plan to look into the generate_messages issue with test_interface_files pkg but would like to ask if we need to test against this package since test_msgs pkg seems to be the one we should focus on in testing?

update-2: Upon inspecting the diffs between test_interface_files pkg and the test_msgs pkg, the services in the test_interface_files pkg do not include the _Request.msg and _Response.msg files. The test_msgs pkg includes these missing files. I believe the root issue is the test_interface_files pkg is not correctly configured in its package.xml. Conclusion: the test_interface_files pkg is goofed and tsd_gen script should do a better job at identifying goofed up interfaces.

[minggangw]

Thanks for making the improvements for ts, I investigated the error reported on trybot

Caught error: Error: Cannot find module './test_interface_files__srv__Arrays_Request.js'
Require stack:
- C:\proj\rclnodejs\generated\test_interface_files\test_interface_files__srv__Arrays.js
- C:\proj\rclnodejs\lib\interface_loader.js
- C:\proj\rclnodejs\rostsd_gen\index.js
- C:\proj\rclnodejs\scripts\generate_messages.js
npm notice created a lockfile as package-lock.json. You should commit this file.
npm WARN optional SKIPPING OPTIONAL DEPENDENCY: fsevents@~2.1.2 (node_modules\chokidar\node_modules\fsevents):

Just as you have mentioned in update-2 that the services in the test_interface_files pkg don't include the _Request.msg and _Response.msg files, so the idl_generator doesn't generate the corresponding JS files for them. Because the test_interface_files has been deprecated, I think that's the reason why there is no _Request/Response.msg files, unfortunately, the .srv is still there.

Some comments based on your latest update

Conclusion: the test_interface_files pkg is goofed and tsd_gen script should do a better job at identifying goofed up interfaces.

Strongly agree, probably we could just check if the _Request/Response.msg exist practically.

[wayneparrott]

Added checks for actions and services to verify that the required interfaces are present before generating the respective tsd info. When an invalid service or action is detected (e.g., test_interface_files/srv/*) an informative error msg is output to stdout and the invalid interface is not included in the interfaces.d.ts file.

[coveralls]

Coverage remained the same at 91.183% when pulling 0fc7070b0f6454070f4a6d2a7946a62fa21944b7 on wayneparrott:service-better-typing into 8823815d9908d616750f19e35c74a1e39c316384 on RobotWebTools:develop.

[minggangw]

After landing this PR, I think v0.16.0 is ready to publish, thanks for your effort!