Address comments

Author: minggangw

lib/runtime/dispatcher.js

@@ -41,9 +41,9 @@ class Dispatcher {
    */
   handle(conn) {
     const state = {
-      publishers: new Map(), // capability name -> publisher
-      subscriptions: new Map(), // subId -> { name, subscription }
-      clients: new Map(), // capability name -> client
+      publishers: new Map(), //    capability name -> Publisher
+      subscriptions: new Map(), // subId           -> { name, Subscription }
+      clients: new Map(), //       capability name -> Client
     };
 
     const cleanup = () => {
@@ -104,9 +104,6 @@ class Dispatcher {
         case 'unsubscribe':
           return this._handleUnsubscribe(conn, id, frame.subId, state);
         case 'action':
-          // Reserved for future Action capability dispatch (planned for
-          // 2.2.x). Returning a stable code now keeps the wire protocol
-          // forward-compatible for clients that probe for support.
           conn.send({
             id,
             ok: false,

lib/runtime/index.js

@@ -99,8 +99,8 @@ class Runtime {
 
 /**
  * Convenience factory. Defaults to a single {@link WebSocketTransport} on
- * port 9000, path `/capability`. Pass `transport` or `transports` to swap or
- * add other adapters (HTTP/SSE planned for 2.2.0).
+ * port 9000, path `/capability`. Pass `transport` or `transports` to swap
+ * or add other adapters.
  *
  * @param {object} options
  * @param {import('../node.js')} options.node

lib/runtime/registry.js

@@ -23,9 +23,13 @@
  */
 class CapabilityRegistry {
   constructor() {
-    this._call = new Map();
-    this._publish = new Map();
-    this._subscribe = new Map();
+    // Per-kind allow-lists. Each map is keyed by ROS name and stores the
+    // resolved interface type, e.g. `_call.get('/add_two_ints')` returns
+    // `'example_interfaces/srv/AddTwoInts'`. Looked up at dispatch time
+    // by Dispatcher.resolve(kind, name).
+    this._call = new Map(); //      ROS service name -> srv type
+    this._publish = new Map(); //   ROS topic name   -> msg type
+    this._subscribe = new Map(); // ROS topic name   -> msg type
   }
 
   /**
@@ -47,7 +51,7 @@ class CapabilityRegistry {
    *
    * The rich form is accepted today but the runtime only consumes
    * `type`; additional fields are reserved for forward-compatibility
-   * (e.g. QoS metadata in 2.4.0). Snapshots via {@link list} always
+   * (e.g. future QoS metadata). Snapshots via {@link list} always
    * return the canonical `{ name: typeName }` form regardless of
    * which form was used here.
    *
@@ -89,7 +93,7 @@ class CapabilityRegistry {
    *
    * Always returns the canonical shorthand form
    * (`{ [name]: typeName }`) regardless of how `expose()` was called.
-   * Useful for introspection / OpenAPI export (planned for 2.3.0).
+   * Useful for introspection and future OpenAPI export.
    */
   list() {
     return {

lib/runtime/transport.js

@@ -13,7 +13,7 @@ const EventEmitter = require('events');
 /**
  * @typedef {Object} CapabilityFrame
  * @property {string|number} [id]      - Caller-assigned request id (echoed in reply).
- * @property {'call'|'publish'|'subscribe'|'unsubscribe'|'action'} [kind] - Request kind (C→S only). `'action'` is reserved (returns `code: 'not_implemented'` until 2.2.x).
+ * @property {'call'|'publish'|'subscribe'|'unsubscribe'|'action'} [kind] - Request kind (C→S only). `'action'` is reserved and currently returns `code: 'not_implemented'`.
  * @property {string} [capability]     - Capability name, e.g. `/cmd_vel`.
  * @property {*}     [payload]         - Message payload (call request, publish msg, sub event).
  * @property {string|number} [subId]   - For unsubscribe: id of the original subscribe.
@@ -26,17 +26,17 @@ const EventEmitter = require('events');
 /**
  * Per-connection abstraction handed to the runtime by a transport adapter.
  *
- * The transport owns the wire (WebSocket today; HTTP/SSE planned for 2.2.0)
+ * The transport owns the wire (WebSocket today; other adapters may follow)
  * and exposes each connection as a `Connection` so the runtime can stay
  * transport-agnostic. Concrete adapters subclass `Connection` and call
  * `this.emit('message', frame)` / `this.emit('close')` as frames arrive on
  * the wire, and implement `send(frame)` / `close(code, reason)` to push
  * frames back out.
  *
- * @experimental — the base class shape may grow in 2.2 (e.g. backpressure
- * hooks for SSE) and is not part of the SemVer-stable surface for
- * third-party adapter authors. The first-party `WebSocketTransport` is
- * stable and recommended for production use.
+ * @experimental — the base class shape may grow (e.g. backpressure hooks)
+ * and is not part of the SemVer-stable surface for third-party adapter
+ * authors. The first-party `WebSocketTransport` is stable and recommended
+ * for production use.
  *
  * @event Connection#message
  * @type {CapabilityFrame}
@@ -74,11 +74,11 @@ class Connection extends EventEmitter {
  *   3. Calls `onConnection(conn)` from the start options once per client.
  *
  * The runtime never speaks to the wire directly — it only consumes the
- * Connection event surface. This is the seam that lets us add the HTTP/SSE
- * adapter in 2.2.0 without touching the runtime or the SDK.
+ * Connection event surface. This is the seam that lets future adapters
+ * (HTTP, etc.) drop in without touching the runtime or the SDK.
  *
  * @experimental — same forward-compat caveat as {@link Connection}: the
- * adapter contract may grow in 2.2 to support new transports. First-party
+ * adapter contract may grow to support new transports. First-party
  * `WebSocketTransport` is stable.
  */
 class TransportAdapter {

package.json

@@ -40,7 +40,7 @@
     "docs": "make -C tools/jsdoc",
     "docs:gh-pages": "node tools/jsdoc/regenerate-published-docs.js --branch origin/gh-pages --preserve-published",
     "docs:gh-pages:full": "node tools/jsdoc/regenerate-published-docs.js --branch origin/gh-pages --full-rebuild",
-    "test": "nyc node --expose-gc ./scripts/run_test.js && tsd && npm install --no-save electron@34.0.0 && node test/electron/run_test.js",
+    "test": "nyc node --expose-gc ./scripts/run_test.js && tsd && npm install --no-save electron && node test/electron/run_test.js",
     "test-idl": "nyc node --expose-gc ./scripts/run_test.js --idl",
     "lint": "eslint && node ./scripts/cpplint.js",
     "test:asan": "bash scripts/run_asan_test.sh",