[WIP] convert to ES Module format

.eslintrc

@@ -0,0 +1,41 @@
+{
+  "env": {
+    "browser": true,
+    "es2021": true,
+    "mocha": true
+  },
+  "globals": {
+    // TODO: These globals are namely for test files. We don't want to have these listed as globals for source files like currently.
+    "require": true,
+    "process": true,
+    "module": true,
+    "ROSLIB": true,
+    "cborTypedArrayTagger": true,
+    "CBOR": true,
+    "EventEmitter2": true
+  },
+  "parser": "@babel/eslint-parser",
+  "parserOptions": {
+    "sourceType": "module",
+    "requireConfigFile": false
+  },
+  "rules": {
+    "semi": ["warn", "always"],
+    "curly": "error",
+    "eqeqeq": "error",
+    "wrap-iife": ["error", "any"],
+    "no-use-before-define": "off",
+    "new-cap": "error",
+    "no-caller": "error",
+    "dot-notation": "off",
+    "no-undef": "error",
+    "no-cond-assign": "off",
+    "no-eq-null": "off",
+    "no-proto": "off",
+    "no-console": "off",
+    "no-unused-vars": "off",
+    "strict": "off",
+    "quotes": ["error", "single"],
+    "linebreak-style": "error"
+  }
+}

.gitignore

@@ -4,4 +4,11 @@ doc
 node_modules
 *.out
 *.log
-*.tar.gz
+*.tar.gz
+
+# libs don't need lock files, only apps do
+*lock.json
+*.lock
+
+# ignore build output
+build/

.npmignore

@@ -1,7 +1,6 @@
-test
-examples
-Gruntfile.js
-.gitignore
-.github
-bower.json
-*.md
+# Ignore everything,
+/**/*
+
+# but include these folders
+!/build/**/*
+!/src/**/*

Dockerfile

@@ -5,14 +5,17 @@ ARG CI=true
 ENV CI=$CI
 
 # Dependencies for rosbridge
-RUN apt update && apt-get install -y firefox git wget ros-$ROS_DISTRO-rosbridge-server ros-$ROS_DISTRO-tf2-web-republisher ros-$ROS_DISTRO-common-tutorials ros-$ROS_DISTRO-rospy-tutorials ros-$ROS_DISTRO-actionlib-tutorials
+RUN apt update && apt-get install -y firefox chromium-browser git wget ros-$ROS_DISTRO-rosbridge-server ros-$ROS_DISTRO-tf2-web-republisher ros-$ROS_DISTRO-common-tutorials ros-$ROS_DISTRO-rospy-tutorials ros-$ROS_DISTRO-actionlib-tutorials
 
 # Install nvm, Node.js and node-gyp
 ARG NODE_VERSION=14
 RUN wget -qO- https://raw.githubusercontent.com/nvm-sh/nvm/v0.38.0/install.sh | bash \
     && . $HOME/.nvm/nvm.sh \
-    && nvm install $NODE_VERSION && nvm alias default $NODE_VERSION \
+    && nvm install $NODE_VERSION --latest-npm && nvm alias default $NODE_VERSION \
     && npm install -g node-gyp
 
 RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> $HOME/.bashrc
 ENV PATH=/bin/versions/node/$NODE_VERSION/bin:$PATH
+
+# Needed for Karma testing
+ENV CHROME_BIN=chromium-browser

Gruntfile.cjs

@@ -0,0 +1,128 @@
+/* global module, require, process */
+
+'use strict';
+
+module.exports = function(grunt) {
+
+  // Time how long tasks take. Can help when optimizing build times
+  require('time-grunt')(grunt);
+
+  // Load grunt tasks automatically
+  require('load-grunt-tasks')(grunt);
+
+  grunt.initConfig({
+    pkg: grunt.file.readJSON('package.json'),
+    shell: {
+      build: {
+        command: 'rollup -c'
+      },
+      'test-esm': {
+        command: 'webpack --config esm-test.webpack.config.js'
+      },
+      lint: {
+        command: 'eslint Gruntfile.cjs ./src/*.js ./src/**/*.js ./test/*.js'
+      },
+      'lint-fix': {
+        command: 'eslint --fix Gruntfile.cjs ./src/*.js ./src/**/*.js ./test/*.js'
+      },
+      'mocha-test': {
+        command: 'mocha ./test/*.test.js'
+      },
+      'mocha-examples': {
+        command: 'mocha ./test/examples/*.js'
+      },
+      'mocha-tcp': {
+        command: 'mocha ./test/tcp/*.js'
+      },
+    },
+    karma: {
+      options: {
+        singleRun: true,
+        browsers: process.env.CI ? ['ChromeHeadlessNoSandbox'] : ['Chrome']
+      },
+      test: {
+        configFile: './test/karma.conf.cjs',
+      },
+      examples: {
+        configFile: './test/examples/karma.conf.cjs',
+      },
+      workersocket: {
+        configFile: './test/workersocket/karma.conf.cjs',
+      },
+    },
+    // mochaTest: {
+    //   options: {
+    //       reporter: 'spec',
+    //       timeout: 5000
+    //   },
+    //   test: {
+    //     src: ['./test/*.test.js']
+    //   },
+    //   examples: {
+    //     src: ['./test/examples/*.js']
+    //   },
+    //   tcp: {
+    //     src: ['./test/tcp/*.js']
+    //   }
+    // },
+    uglify: {
+      options: {
+        report: 'min'
+      },
+      build: {
+        src: './build/roslib.js',
+        dest: './build/roslib.min.js'
+      }
+    },
+    watch: {
+      dev: {
+        options: {
+          interrupt: true
+        },
+        files: [
+          './src/**/*.js'
+        ],
+        tasks: ['shell:build']
+      },
+      build_and_watch: {
+        options: {
+          interrupt: true
+        },
+        files: [
+          'Gruntfile.cjs',
+          '.jshintrc',
+          './src/**/*.js'
+        ],
+        tasks: ['build']
+      }
+    },
+    clean: {
+      options: {
+        force: true
+      },
+      doc: ['./doc']
+    },
+    jsdoc: {
+      doc: {
+        src: [
+          './src/**/*.js'
+        ],
+        options: {
+          destination: './doc',
+          private: false
+        }
+      }
+    }
+  });
+
+  grunt.registerTask('dev', ['shell:build', 'watch']);
+  grunt.registerTask('test', ['lint', 'shell:test-esm', 'shell:mocha-test', 'karma:test']);
+  grunt.registerTask('test-examples', ['shell:mocha-examples', 'karma:examples']);
+  grunt.registerTask('test-tcp', ['shell:mocha-tcp']);
+  grunt.registerTask('test-workersocket', ['karma:workersocket']);
+  grunt.registerTask('build', ['lint', 'shell:build']);
+  grunt.registerTask('build_and_watch', ['watch']);
+  grunt.registerTask('doc', ['clean', 'jsdoc']);
+  grunt.registerTask('lint', ['shell:lint']);
+  grunt.registerTask('lint-fix', ['shell:lint-fix',]);
+};