Remove compatibility and custom utility code

Author: minggangw

lib/client.js

@@ -25,51 +25,6 @@ const {
 const { assertValidMessage } = require('./message_validation.js');
 const debug = require('debug')('rclnodejs:client');
 
-// Polyfill for AbortSignal.any() for Node.js <= 20.3.0
-// AbortSignal.any() was added in Node.js 20.3.0
-// See https://developer.mozilla.org/en-US/docs/Web/API/AbortSignal/any_static
-if (!AbortSignal.any) {
-  AbortSignal.any = function (signals) {
-    // Filter out null/undefined values and validate inputs
-    const validSignals = Array.isArray(signals)
-      ? signals.filter((signal) => signal != null)
-      : [];
-
-    // If no valid signals, return a never-aborting signal
-    if (validSignals.length === 0) {
-      return new AbortController().signal;
-    }
-
-    const controller = new AbortController();
-    const listeners = [];
-
-    // Cleanup function to remove all event listeners
-    const cleanup = () => {
-      listeners.forEach(({ signal, listener }) => {
-        signal.removeEventListener('abort', listener);
-      });
-    };
-
-    for (const signal of validSignals) {
-      if (signal.aborted) {
-        cleanup();
-        controller.abort(signal.reason);
-        return controller.signal;
-      }
-
-      const listener = () => {
-        cleanup();
-        controller.abort(signal.reason);
-      };
-
-      signal.addEventListener('abort', listener);
-      listeners.push({ signal, listener });
-    }
-
-    return controller.signal;
-  };
-}
-
 /**
  * @class - Class representing a Client in ROS
  * @hideconstructor

lib/message_introspector.js

@@ -88,35 +88,7 @@ class MessageIntrospector {
       const instance = new this.#typeClass();
       this.#defaultsCache = toPlainObject(instance);
     }
-    return this.#deepClone(this.#defaultsCache);
-  }
-
-  /**
-   * Deep clone an object.
-   * @param {any} obj - Object to clone
-   * @returns {any} Cloned object
-   * @private
-   */
-  #deepClone(obj) {
-    if (obj === null || typeof obj !== 'object') {
-      return obj;
-    }
-
-    if (Array.isArray(obj)) {
-      return obj.map((item) => this.#deepClone(item));
-    }
-
-    if (ArrayBuffer.isView(obj) && !(obj instanceof DataView)) {
-      return obj.slice();
-    }
-
-    const cloned = {};
-    for (const key in obj) {
-      if (Object.prototype.hasOwnProperty.call(obj, key)) {
-        cloned[key] = this.#deepClone(obj[key]);
-      }
-    }
-    return cloned;
+    return structuredClone(this.#defaultsCache);
   }
 }
 

lib/message_serialization.js

@@ -62,7 +62,7 @@ function toPlainArrays(obj) {
   if (typeof obj === 'object' && obj !== null) {
     const result = {};
     for (const key in obj) {
-      if (Object.prototype.hasOwnProperty.call(obj, key)) {
+      if (Object.hasOwn(obj, key)) {
         result[key] = toPlainArrays(obj[key]);
       }
     }
@@ -105,7 +105,7 @@ function toJSONSafe(obj) {
   if (typeof obj === 'object' && obj !== null) {
     const result = {};
     for (const key in obj) {
-      if (Object.prototype.hasOwnProperty.call(obj, key)) {
+      if (Object.hasOwn(obj, key)) {
         result[key] = toJSONSafe(obj[key]);
       }
     }