[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"
+  }
+}

Gruntfile.js → Gruntfile.cjs

@@ -1,3 +1,5 @@
+/* global module, require, process */
+
 'use strict';
 
 module.exports = function(grunt) {
@@ -10,34 +12,39 @@ module.exports = function(grunt) {
 
   grunt.initConfig({
     pkg: grunt.file.readJSON('package.json'),
-    browserify: {
-      dist: {
-        src: ['./src/RosLibBrowser.js'],
-        dest: './build/roslib.js'
-      }
-    },
-    jshint: {
-      options: {
-        jshintrc: true
+    shell: {
+      build: {
+        command: 'rollup -c'
+      },
+      lint: {
+        command: 'eslint Gruntfile.cjs ./src/*.js ./src/**/*.js ./test/*.js'
+      },
+      'lint-fix': {
+        command: 'eslint --fix Gruntfile.cjs ./src/*.js ./src/**/*.js ./test/*.js'
+      },
+      mochaTest: {
+        command: 'mocha ./test/*.test.js'
+      },
+      mochaExamples: {
+        command: 'mocha ./test/examples/*.js'
+      },
+      mochaTcp: {
+        command: 'mocha ./test/tcp/*.js'
       },
-      files: [
-        './Gruntfile.js',
-        './src/**/*.js'
-      ]
     },
     karma: {
       options: {
         singleRun: true,
-        browsers: process.env.CI ? ['FirefoxHeadless'] : ['Firefox']
+        browsers: process.env.CI ? ['ChromeHeadless'] : ['Chrome']
       },
       test: {
-        configFile: './test/karma.conf.js',
+        configFile: './test/karma.conf.cjs',
       },
       examples: {
-        configFile: './test/examples/karma.conf.js',
+        configFile: './test/examples/karma.conf.cjs',
       },
       workersocket: {
-        configFile: './test/workersocket/karma.conf.js',
+        configFile: './test/workersocket/karma.conf.cjs',
       },
     },
     mochaTest: {
@@ -72,14 +79,14 @@ module.exports = function(grunt) {
         files: [
           './src/**/*.js'
         ],
-        tasks: ['browserify']
+        tasks: ['shell:build']
       },
       build_and_watch: {
         options: {
           interrupt: true
         },
         files: [
-          'Gruntfile.js',
+          'Gruntfile.cjs',
           '.jshintrc',
           './src/**/*.js'
         ],
@@ -105,12 +112,19 @@ module.exports = function(grunt) {
     }
   });
 
-  grunt.registerTask('dev', ['browserify', 'watch']);
-  grunt.registerTask('test', ['jshint', 'mochaTest:test', 'karma:test']);
-  grunt.registerTask('test-examples', ['mochaTest:examples', 'karma:examples']);
-  grunt.registerTask('test-tcp', ['mochaTest:tcp']);
+  grunt.registerTask('dev', ['shell:build', 'watch']);
+
+  // grunt.registerTask('test', ['lint', 'mochaTest:test', 'karma:test']);
+  // grunt.registerTask('test-examples', ['mochaTest:examples', 'karma:examples']);
+  // grunt.registerTask('test-tcp', ['mochaTest:tcp']);
+  grunt.registerTask('test', ['lint', 'shell:mochaTest', 'karma:test']);
+  grunt.registerTask('test-examples', ['shell:mochaExamples', 'karma:examples']);
+  grunt.registerTask('test-tcp', ['shell:mochaTcp']);
+
   grunt.registerTask('test-workersocket', ['karma:workersocket']);
-  grunt.registerTask('build', ['browserify', 'uglify']);
+  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',]);
 };