Simplify TypeScript config

test/SocketAdapter.test.ts

@@ -37,7 +37,7 @@ describe("SocketAdapter fragment handling", () => {
         client.isConnected = false;
         client.emit("close", event);
       },
-      onError: (event: ErrorEvent) => {
+      onError: (event: ErrorEvent | RTCErrorEvent) => {
         client.emit("error", String(event.error));
       },
       onMessage: (message: RosbridgeMessage) => {

test/examples/fibonacci.example.ts

@@ -3,7 +3,7 @@ import * as ROSLIB from "../../src/RosLib.js";
 
 // Noetic is the only version of ROS 1 we support, so we skip based on distro name
 // instead of adding extra plumbing for ROS_VERSION.
-describe.skipIf(process.env.ROS_DISTRO !== "noetic")(
+describe.skipIf(process.env["ROS_DISTRO"] !== "noetic")(
   "ROS 1 Fibonacci Example",
   function () {
     it(

test/examples/params.example.ts

@@ -2,7 +2,7 @@ import { describe, it, expect, vi } from "vitest";
 import * as ROSLIB from "../../src/RosLib.js";
 
 const PARAM_NAME =
-  process.env.ROS_DISTRO === "noetic"
+  process.env["ROS_DISTRO"] === "noetic"
     ? "/test/foo"
     : // Is it crazy to muck around with use_sim_time here? I feel like it shouldn't matter..
       "/add_two_ints_server:use_sim_time";
@@ -50,26 +50,32 @@ describe("Param setting", function () {
 
   // Known issue with getting params being able to hang in Humble because it had no timeout.
   // This doesn't even work with `ros2 param list` at the CLI in our test environment :(
-  it.skipIf(process.env.ROS_DISTRO === "humble")("ros.getParams", async () => {
-    const callback = vi.fn();
-    ros.getParams(callback);
-    await vi.waitFor(() => {
-      expect(callback).toHaveBeenCalledOnce();
-      expect(callback.mock.calls[0][0]).to.include(PARAM_NAME);
-    });
-  });
+  it.skipIf(process.env["ROS_DISTRO"] === "humble")(
+    "ros.getParams",
+    async () => {
+      const callback = vi.fn();
+      ros.getParams(callback);
+      await vi.waitFor(() => {
+        expect(callback).toHaveBeenCalledOnce();
+        expect(callback.mock.calls[0][0]).to.include(PARAM_NAME);
+      });
+    },
+  );
 
   // In ROS 2 we can't forcibly un-declare someone else's parameter
-  it.skipIf(process.env.ROS_DISTRO !== "noetic")("Param.delete", async () => {
-    const callback = vi.fn();
-    param.delete(callback);
-    await vi.waitFor(() => {
-      expect(callback).toHaveBeenCalled();
-    });
-    const getParamsCallback = vi.fn();
-    ros.getParams(getParamsCallback);
-    await vi.waitFor(() =>
-      expect(getParamsCallback.mock.calls[0][0]).to.not.include(PARAM_NAME),
-    );
-  });
+  it.skipIf(process.env["ROS_DISTRO"] !== "noetic")(
+    "Param.delete",
+    async () => {
+      const callback = vi.fn();
+      param.delete(callback);
+      await vi.waitFor(() => {
+        expect(callback).toHaveBeenCalled();
+      });
+      const getParamsCallback = vi.fn();
+      ros.getParams(getParamsCallback);
+      await vi.waitFor(() =>
+        expect(getParamsCallback.mock.calls[0][0]).to.not.include(PARAM_NAME),
+      );
+    },
+  );
 });

test/examples/tf.example.ts

@@ -3,7 +3,7 @@ import * as ROSLIB from "../../src/RosLib.js";
 
 // Noetic is the only version of ROS 1 we support, so we skip based on distro name
 // instead of adding extra plumbing for ROS_VERSION.
-describe.skipIf(process.env.ROS_DISTRO !== "noetic")(
+describe.skipIf(process.env["ROS_DISTRO"] !== "noetic")(
   "ROS 1 TF2 Republisher Example",
   function () {
     it("tf republisher", () =>

test/examples/tf_service.example.ts

@@ -3,7 +3,7 @@ import * as ROSLIB from "../../src/RosLib.js";
 
 // Noetic is the only version of ROS 1 we support, so we skip based on distro name
 // instead of adding extra plumbing for ROS_VERSION.
-describe.skipIf(process.env.ROS_DISTRO !== "noetic")(
+describe.skipIf(process.env["ROS_DISTRO"] !== "noetic")(
   "ROS 1 TF2 Republisher Service Example",
   function () {
     it("tf republisher", () =>

test/setup/ros-backend.ts

@@ -18,7 +18,7 @@ const docker = new Docker();
  */
 function getRosDistro() {
   // eslint-disable-next-line @typescript-eslint/prefer-nullish-coalescing -- this might be an empty string, not undefined.
-  return process.env.ROS_DISTRO || "noetic";
+  return process.env["ROS_DISTRO"] || "noetic";
 }
 
 async function waitForRosConnection(ros: Ros, timeout = 5000) {

test/urdf.test.ts

@@ -88,54 +88,70 @@ describe("URDF", function () {
       });
 
       // Check all the visual elements
-      expect(urdfModel.links.link1.visuals.length).to.equal(1);
-      if (!(urdfModel.links.link1.visuals[0]?.geometry instanceof UrdfSphere)) {
+      expect(urdfModel.links["link1"].visuals.length).to.equal(1);
+      if (
+        !(urdfModel.links["link1"].visuals[0]?.geometry instanceof UrdfSphere)
+      ) {
         throw new Error("Expected geometry to be an instance of UrdfSphere");
       }
-      expect(urdfModel.links.link1.visuals[0]?.geometry?.radius).to.equal(1.0);
-      if (!(urdfModel.links.link2.visuals[0]?.geometry instanceof UrdfBox)) {
+      expect(urdfModel.links["link1"].visuals[0]?.geometry?.radius).to.equal(
+        1.0,
+      );
+      if (!(urdfModel.links["link2"].visuals[0]?.geometry instanceof UrdfBox)) {
         throw new Error("Expected geometry to be an instance of UrdfBox");
       }
-      expect(urdfModel.links.link2.visuals[0]?.geometry?.dimension?.x).to.equal(
-        0.5,
-      );
-      expect(urdfModel.links.link2.visuals[0]?.geometry?.dimension?.y).to.equal(
-        0.5,
-      );
-      expect(urdfModel.links.link2.visuals[0]?.geometry?.dimension?.z).to.equal(
-        0.5,
-      );
+      expect(
+        urdfModel.links["link2"].visuals[0]?.geometry?.dimension?.x,
+      ).to.equal(0.5);
+      expect(
+        urdfModel.links["link2"].visuals[0]?.geometry?.dimension?.y,
+      ).to.equal(0.5);
+      expect(
+        urdfModel.links["link2"].visuals[0]?.geometry?.dimension?.z,
+      ).to.equal(0.5);
       if (
-        !(urdfModel.links.link3.visuals[0]?.geometry instanceof UrdfCylinder)
+        !(urdfModel.links["link3"].visuals[0]?.geometry instanceof UrdfCylinder)
       ) {
         throw new Error("Expected geometry to be an instance of UrdfCylinder");
       }
-      expect(urdfModel.links.link3.visuals[0]?.geometry?.length).to.equal(2.0);
-      expect(urdfModel.links.link3.visuals[0]?.geometry?.radius).to.equal(0.2);
+      expect(urdfModel.links["link3"].visuals[0]?.geometry?.length).to.equal(
+        2.0,
+      );
+      expect(urdfModel.links["link3"].visuals[0]?.geometry?.radius).to.equal(
+        0.2,
+      );
 
-      expect(urdfModel.links.link4.visuals.length).to.equal(1);
-      expect(urdfModel.links.link4.visuals[0]?.material?.name).to.equal("red");
-      expect(urdfModel.links.link4.visuals[0]?.material?.color?.r).to.equal(
+      expect(urdfModel.links["link4"].visuals.length).to.equal(1);
+      expect(urdfModel.links["link4"].visuals[0]?.material?.name).to.equal(
+        "red",
+      );
+      expect(urdfModel.links["link4"].visuals[0]?.material?.color?.r).to.equal(
         1.0,
       );
-      expect(urdfModel.links.link4.visuals[0]?.material?.color?.g).to.equal(0);
-      expect(urdfModel.links.link4.visuals[0]?.material?.color?.b).to.equal(0);
-      expect(urdfModel.links.link4.visuals[0]?.material?.color?.a).to.equal(
+      expect(urdfModel.links["link4"].visuals[0]?.material?.color?.g).to.equal(
+        0,
+      );
+      expect(urdfModel.links["link4"].visuals[0]?.material?.color?.b).to.equal(
+        0,
+      );
+      expect(urdfModel.links["link4"].visuals[0]?.material?.color?.a).to.equal(
         1.0,
       );
 
-      expect(urdfModel.links.link5.visuals.length).to.equal(2);
-      expect(urdfModel.links.link5.visuals[0]?.material?.name).to.equal("blue");
-      expect(urdfModel.links.link5.visuals[0]?.material?.color?.r).to.equal(
+      expect(urdfModel.links["link5"].visuals.length).to.equal(2);
+      expect(urdfModel.links["link5"].visuals[0]?.material?.name).to.equal(
+        "blue",
+      );
+      expect(urdfModel.links["link5"].visuals[0]?.material?.color?.r).to.equal(
         0.0,
       );
-      expect(urdfModel.links.link5.visuals[0]?.material?.color?.g).to.equal(
+      expect(urdfModel.links["link5"].visuals[0]?.material?.color?.g).to.equal(
         0.0,
       );
-      expect(urdfModel.links.link5.visuals[0]?.material?.color?.b).to.equal(
+      expect(urdfModel.links["link5"].visuals[0]?.material?.color?.b).to.equal(
         1.0,
       );
-      expect(urdfModel.links.link5.visuals[0]?.material?.color?.a).to.equal(
+      expect(urdfModel.links["link5"].visuals[0]?.material?.color?.a).to.equal(
         1.0,
       );
     });

tsconfig.json

@@ -1,13 +1,61 @@
 {
-  "extends": "./tsconfig.build.json",
   "compilerOptions": {
-    "noEmit": true
+    "noEmit": true,
+    /* Lib Options */
+    "target": "es6" /* Set the JavaScript language version for emitted JavaScript and include compatible library declarations. */,
+    "lib": [
+      "es2022",
+      "DOM",
+      "DOM.Iterable"
+    ] /* Specify library files to be included in the compilation. */,
+    "module": "esnext" /* Specify what module code is generated. */,
+    "moduleResolution": "bundler",
+
+    /* JavaScript Support */
+    "allowJs": false /* Allow JavaScript files to be a part of your program. Use the 'checkJS' option to get errors from these files. */,
+    "checkJs": false /* Enable error reporting in type-checked JavaScript files. */,
+
+    /* Build Options */
+    "rootDir": "." /* Specify the root folder within your source files. */,
+    "outDir": "./dist" /* Specify an output folder for all emitted files. */,
+    "incremental": true /* Enable incremental compilation */,
+    "tsBuildInfoFile": "./node_modules/.cache/typescript/tsbuildinfo" /* Specify the folder for .tsbuildinfo incremental compilation files. */,
+    "declaration": true /* Generate .d.ts files from TypeScript and JavaScript files in your project. */,
+    "skipLibCheck": true /* Skip type checking all .d.ts files. */,
+    "allowImportingTsExtensions": true,
+
+    /* Module Options */
+    "esModuleInterop": true /* Emit additional JavaScript to ease support for importing CommonJS modules. This enables 'allowSyntheticDefaultImports' for type compatibility. */,
+    "forceConsistentCasingInFileNames": true /* Ensure that casing is correct in imports. */,
+    "isolatedModules": true /* Ensure that each file can be safely transpiled without relying on other imports. */,
+
+    /* Strict Type-Checking Options */
+    /* Gradually enable more of these until we can enable strict mode. */
+    "strict": false /* Enable all strict type-checking options. */,
+    /* Rules enabled so far */
+    "allowUnreachableCode": false /* Disable error reporting for unreachable code. */,
+    "allowUnusedLabels": false /* Disable error reporting for unused labels. */,
+    "alwaysStrict": true /* Ensure 'use strict' is always emitted. */,
+    "noFallthroughCasesInSwitch": true /* Enable error reporting for fallthrough cases in switch statements */,
+    "strictNullChecks": true /* When type checking, take into account `null` and `undefined`. */,
+    "noImplicitReturns": true /* Enable error reporting for codepaths that do not explicitly return in a function. */,
+    "noImplicitThis": true /* Enable error reporting when `this` is given the type `any`. */,
+    "noPropertyAccessFromIndexSignature": true /* Enforces using indexed accessors for keys declared using an indexed type */,
+    "noUnusedLocals": true /* Enable error reporting when a local variable isn't read. */,
+    "noUnusedParameters": true /* Raise an error when a function parameter isn't read */,
+    "strictBindCallApply": true /* Check that the arguments for `bind`, `call`, and `apply` methods match the original function. */,
+    "strictBuiltinIteratorReturn": true /* Built-in iterators are instantiated with a 'TReturn' type of 'undefined' instead of 'any'. */,
+    "useUnknownInCatchVariables": true /* Default catch clause variables as `unknown` instead of `any`. */,
+    "strictFunctionTypes": true /* When assigning functions, check to ensure parameters and the return values are subtype-compatible. */,
+    "strictPropertyInitialization": true /* Check for class properties that are declared but not set in the constructor. */,
+    "noImplicitOverride": true /* Ensure overriding members in derived classes are marked with an override modifier. */,
+
+    /* Rules to be enabled */
+    "exactOptionalPropertyTypes": false /* Differentiate between undefined and not present when type checking */,
+    "noImplicitAny": false /* Enable error reporting for expressions and declarations with an implied 'any' type. */,
+    "noUncheckedIndexedAccess": false /* Add `undefined` to a type when accessed using an index. */,
+
+    "types": ["@types/node"]
   },
-  "include": [
-    "vite.config.ts",
-    "./src",
-    "./test",
-    "eslint.config.ts",
-    "examples"
-  ]
+  "exclude": ["docs"]
 }

vite.config.ts

@@ -6,12 +6,14 @@ import checker from "vite-plugin-checker";
 export default defineConfig({
   plugins: [
     dts({
-      tsconfigPath: "tsconfig.build.json",
+      tsconfigPath: "tsconfig.json",
       insertTypesEntry: true,
+      // Only generate types for our actual source code, obv
+      include: ["src"],
     }),
     checker({
       typescript: {
-        tsconfigPath: "./tsconfig.build.json",
+        tsconfigPath: "./tsconfig.json",
       },
       eslint: {
         lintCommand: "eslint .",