Upgrade strictness of typescript eslint (#1033)

Author: EzraBrooks

eslint.config.ts

@@ -1,17 +1,19 @@
-// @ts-check
-
+import { defineConfig } from "eslint/config";
 import eslint from "@eslint/js";
 import tseslint from "typescript-eslint";
 import globals from "globals";
 import jsdoc from "eslint-plugin-jsdoc";
 import prettier from "eslint-plugin-prettier";
 
-export default tseslint.config(
+export default defineConfig(
   eslint.configs.recommended,
   {
     // Linting rules for TS files, should be combined with the base config when migration is complete
     files: ["**/*.{js,jsx,ts,tsx,cjs}"],
-    extends: [...tseslint.configs.recommended, ...tseslint.configs.stylistic],
+    extends: [
+      ...tseslint.configs.strictTypeChecked,
+      ...tseslint.configs.stylisticTypeChecked,
+    ],
     languageOptions: {
       parser: tseslint.parser,
       parserOptions: {
@@ -22,21 +24,11 @@ export default tseslint.config(
       prettier,
     },
     rules: {
-      eqeqeq: 2,
-      "wrap-iife": [2, "any"],
-      "no-use-before-define": 0,
-      "no-caller": 2,
-      "no-undef": 2,
-      "no-cond-assign": 0,
-      "no-eq-null": 0,
-      strict: 0,
       "prettier/prettier": [2, { endOfLine: "auto" }],
-      "no-proto": 2,
       // Disabled to allow namespaced ROS message types since that's how we think about message types in ROS
       "@typescript-eslint/no-namespace": 0,
       // Plenty of APIs (like mocking APIs in Vitest) require empty functions to be declared.
       "@typescript-eslint/no-empty-function": 0,
-      "@typescript-eslint/no-unnecessary-condition": "error",
     },
   },
   {

examples/node_simple.js

@@ -1,7 +1,7 @@
 #!/usr/bin/env node
 
 // Connecting to ROS
-import ROSLIB from "roslib";
+import ROSLIB from "../src/index";
 
 const ros = new ROSLIB.Ros({
   url: "ws://localhost:9090",

package-lock.json

@@ -19,6 +19,7 @@
   "devDependencies": {
     "@eslint/js": "^9.32.0",
     "@testing-library/react": "^16.0.0",
+    "@types/dockerode": "^3.3.45",
     "@types/node": "^24.0.1",
     "@types/ws": "^8.5.10",
     "dockerode": "^4.0.9",

package.json

@@ -24,7 +24,7 @@ export default class ActionClient<
   TFeedback = unknown,
   TResult = unknown,
 > extends EventEmitter<{
-  timeout: void;
+  timeout: undefined;
 }> {
   goals: Partial<Record<string, Goal<TGoal>>> = {};
   /** flag to check if a status has been received */

src/actionlib/ActionClient.ts

@@ -18,17 +18,17 @@ export default class Goal<
   TFeedback = unknown,
   TResult = unknown,
 > extends EventEmitter<{
-  timeout: void;
-  status: actionlib_msgs.GoalStatus;
+  timeout: undefined;
+  status: [actionlib_msgs.GoalStatus];
   feedback: [TFeedback];
   result: [TResult];
 }> {
   isFinished = false;
-  status = undefined;
+  status?: actionlib_msgs.GoalStatus = undefined;
   result?: TResult = undefined;
   feedback?: TFeedback = undefined;
   // Create a random ID
-  goalID = "goal_" + Math.random() + "_" + new Date().getTime();
+  goalID = `goal_${Math.random().toString()}_${new Date().getTime().toString()}`;
   actionClient: ActionClient<TGoal, TFeedback, TResult>;
   goalMessage: { goal: TGoal; goal_id: actionlib_msgs.GoalID };
   /**

src/actionlib/Goal.ts

@@ -7,6 +7,7 @@ import Ros from "../core/Ros.js";
 import Topic from "../core/Topic.js";
 import { EventEmitter } from "eventemitter3";
 import { actionlib_msgs } from "../types/actionlib_msgs.js";
+import { std_msgs } from "../types/std_msgs.js";
 
 /**
  * An actionlib action server client.
@@ -21,7 +22,7 @@ export default class SimpleActionServer<
   TResult = unknown,
 > extends EventEmitter<{
   goal: [TGoal];
-  cancel: void;
+  cancel: undefined;
 }> {
   // needed for handling preemption prompted by a new goal being received
   currentGoal: { goal: TGoal; goal_id: actionlib_msgs.GoalID } | null = null; // currently tracked goal
@@ -125,7 +126,7 @@ export default class SimpleActionServer<
      * helper function to determine ordering of timestamps
      * returns t1 < t2
      */
-    const isEarlier = function (t1, t2) {
+    const isEarlier = function (t1: std_msgs.time, t2: std_msgs.time) {
       if (t1.secs > t2.secs) {
         return false;
       } else if (t1.secs < t2.secs) {

src/actionlib/SimpleActionServer.ts

@@ -8,6 +8,8 @@ import {
   isRosbridgeActionFeedbackMessage,
   isRosbridgeActionResultMessage,
   isRosbridgeCancelActionGoalMessage,
+  isRosbridgeSendActionGoalMessage,
+  RosbridgeSendActionGoalMessage,
 } from "../types/protocol.ts";
 import Ros from "./Ros.js";
 
@@ -65,8 +67,7 @@ export default class Action<
       return;
     }
 
-    const actionGoalId =
-      "send_action_goal:" + this.name + ":" + ++this.ros.idCounter;
+    const actionGoalId = `send_action_goal:${this.name}:${(++this.ros.idCounter).toString()}`;
 
     this.ros.on(actionGoalId, function (message) {
       if (isRosbridgeActionResultMessage<TResult>(message)) {
@@ -124,7 +125,15 @@ export default class Action<
 
     this.#actionCallback = actionCallback;
     this.#cancelCallback = cancelCallback;
-    this.ros.on(this.name, this.#executeAction.bind(this));
+    this.ros.on(this.name, (msg) => {
+      if (isRosbridgeSendActionGoalMessage(msg)) {
+        this.#executeAction.bind(this);
+      } else {
+        throw new Error(
+          "Received unrelated message on Action server event stream!",
+        );
+      }
+    });
     this.ros.callOnConnection({
       op: "advertise_action",
       type: this.actionType,
@@ -156,7 +165,7 @@ export default class Action<
    * @param rosbridgeRequest.id - The ID of the action goal.
    * @param rosbridgeRequest.args - The arguments of the action goal.
    */
-  #executeAction(rosbridgeRequest: { id: string; args: TGoal }) {
+  #executeAction(rosbridgeRequest: RosbridgeSendActionGoalMessage<TGoal>) {
     const id = rosbridgeRequest.id;
 
     // If a cancellation callback exists, call it when a cancellation event is emitted.
@@ -173,7 +182,13 @@ export default class Action<
 
     // Call the action goal execution function provided.
     if (this.#actionCallback) {
-      this.#actionCallback(rosbridgeRequest.args, id);
+      if (rosbridgeRequest.args) {
+        this.#actionCallback(rosbridgeRequest.args, id);
+      } else {
+        throw new Error(
+          "Received Action goal with no arguments! This should never happen, because rosbridge should fill in blanks!",
+        );
+      }
     }
   }
 

src/core/Action.ts

@@ -46,11 +46,10 @@ export default class Param<T = unknown> {
     paramClient.callService(
       request,
       function (result) {
-        if (result.successful === false) {
+        if ("successful" in result && !result.successful) {
           failedCallback(result.reason);
         } else {
-          const value = JSON.parse(result.value);
-          callback(value);
+          callback(JSON.parse(result.value) as T);
         }
       },
       failedCallback,
@@ -85,7 +84,7 @@ export default class Param<T = unknown> {
     paramClient.callService(
       request,
       function (result) {
-        if (result.successful === false) {
+        if ("successful" in result && !result.successful) {
           failedCallback(result.reason);
         } else if (callback) {
           callback(result);
@@ -120,7 +119,7 @@ export default class Param<T = unknown> {
     paramClient.callService(
       request,
       function (result) {
-        if (result.successful === false) {
+        if ("successful" in result && !result.successful) {
           failedCallback(result.reason);
         } else {
           callback(result);