rclnodejs 0.21.4 → 0.22.0

package/lib/subscription.js

@@ -19,8 +19,13 @@ const Entity = require('./entity.js');
 const debug = require('debug')('rclnodejs:subscription');
 
 /**
- * @class - Class representing a Subscription in ROS
+ * @class - Class representing a ROS 2 Subscription
  * @hideconstructor
+ * Includes support for content-filtering topics beginning with the
+ * ROS Humble release. To learn more about content-filtering
+ * @see {@link Node#options}
+ * @see {@link Node#createSubscription}
+ * @see {@link https://www.omg.org/spec/DDS/1.4/PDF|DDS 1.4 specification, Annex B}
  */
 
 class Subscription extends Entity {
@@ -42,13 +47,21 @@ class Subscription extends Entity {
 
   static createSubscription(nodeHandle, typeClass, topic, options, callback) {
     let type = typeClass.type();
+
+    // convert contentFilter.parameters to a string[]
+    if (options.contentFilter && options.contentFilter.parameters) {
+      options.contentFilter.parameters = options.contentFilter.parameters.map(
+        (param) => param.toString()
+      );
+    }
+
     let handle = rclnodejs.createSubscription(
       nodeHandle,
       type.pkgName,
       type.subFolder,
       type.interfaceName,
       topic,
-      options.qos
+      options
     );
     return new Subscription(handle, typeClass, topic, options, callback);
   }
@@ -66,6 +79,43 @@ class Subscription extends Entity {
   get isRaw() {
     return this._isRaw;
   }
+
+  /**
+   * Test if the RMW supports content-filtered topics and that this subscription
+   * has an active wellformed content-filter.
+   * @returns {boolean} True if content-filtering will be applied; otherwise false.
+   */
+  hasContentFilter() {
+    return rclnodejs.hasContentFilter(this.handle);
+  }
+
+  /**
+   * If the RMW supports content-filtered topics set this subscription's content-filter.
+   * @param {object} contentFilter - The content-filter description.
+   * @param {string} contentFilter.expression - Specifies the criteria to select messages of interest.
+   *  It is similar to the WHERE part of an SQL clause. Clear the current contentFilter if
+   *  the expression is undefined or an empty string.
+   * @param {object[]}  [contentFilter.parameters=undefined] - Array of objects that give values to
+   *  the ‘parameters’ (i.e., "%n" tokens) in the filter_expression. The number of supplied parameters must
+   *  fit with the requested values in the filter_expression (i.e., the number of %n tokens). default: undefined.
+   * @returns {boolean} - True if successful; false otherwise
+   * @see {@link https://www.omg.org/spec/DDS/1.4/PDF|DDS 1.4 specification, Annex B}
+   */
+  setContentFilter(contentFilter) {
+    return contentFilter?.expression
+      ? rclnodejs.setContentFilter(this.handle, contentFilter)
+      : this.clearContentFilter();
+  }
+
+  /**
+   * Clear the current content-filter. No filtering is to be applied.
+   * @returns {boolean} - True if successful; false otherwise
+   */
+  clearContentFilter() {
+    return this.hasContentFilter()
+      ? rclnodejs.clearContentFilter(this.handle)
+      : true;
+  }
 }
 
 module.exports = Subscription;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.21.4",
+  "version": "0.22.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -13,21 +13,28 @@
     "typescript"
   ],
   "scripts": {
-    "install": "node-gyp rebuild",
+    "build": "node-gyp -j 16 build",
+    "build:dev": "node-gyp -j 16 build --debug",
+    "rebuild": "npm run clean && node-gyp -j 16 rebuild",
+    "rebuild:dev": "npm run clean && node-gyp -j 16 rebuild --debug",
+    "generate-messages": "node scripts/generate_messages.js",
+    "clean": "node-gyp clean && rimraf ./generated",
+    "install": "npm run rebuild",
+    "postinstall": "npm run generate-messages",
     "docs": "cd docs && make",
     "test": "node --expose-gc ./scripts/run_test.js && npm run dtslint",
     "dtslint": "node scripts/generate_tsd.js && dtslint test/types",
     "lint": "eslint --max-warnings=0 --ext js,ts index.js types scripts lib example rosidl_gen rosidl_parser test benchmark/rclnodejs && node ./scripts/cpplint.js",
-    "postinstall": "node scripts/generate_messages.js",
     "format": "clang-format -i -style=file ./src/*.cpp ./src/*.hpp && prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark}/**/*.{js,md,ts}\" ./*.{js,md,ts}"
   },
   "bin": {
     "generate-ros-messages": "./scripts/generate_messages.js"
   },
   "authors": [
-    "Minggang Wang <minggang.wang@intel.com>",
+    "Minggang Wang <minggangw@gmail.com>",
     "Kenny Yuan <kaining.yuan@intel.com>",
     "Wanming Lin <wanming.lin@intel.com>",
+    "Wayne Parrott",
     "Zhong Qiu <zhongx.qiu@intel.com>"
   ],
   "license": "Apache-2.0",
@@ -49,7 +56,7 @@
     "husky": "^4.2.5",
     "jsdoc": "^3.6.7",
     "lint-staged": "^10.2.11",
-    "mocha": "^8.0.1",
+    "mocha": "^10.2.0",
     "prettier": "^2.0.5",
     "rimraf": "^3.0.2",
     "sinon": "^9.0.2",

package/rosidl_gen/blocklist.json

@@ -0,0 +1,5 @@
+[
+  {
+    "pkgName": "rosbag2_storage_mcap_testdata"
+  }
+]

package/rosidl_gen/filter.js

@@ -0,0 +1,104 @@
+const fs = require('fs');
+const path = require('path');
+const os = require('os');
+
+// blocklist.json format
+//  [
+//    {
+//      pkgName: RegExString,
+//      interfaceName: RegExString,
+//      os: RegExString
+//    },
+//    ...
+//  ]
+//
+// examples
+//  [
+//    {
+//      "pkgName": "action*"
+//    },
+//    {
+//      "pkgName": "std_msgs",
+//    },
+//    {
+//      "pkgName": "std_msgs",
+//      "interfaceName": "String"
+//    },
+//    {
+//      "os": "Linux"
+//    },
+//  ]
+
+const RosPackageFilters = {
+  filters: [],
+  _loaded: false,
+
+  addFilter: function (pkgName, interfaceName, os) {
+    this.filters.push({
+      pkgName: pkgName,
+      interfaceName: interfaceName,
+      os: os,
+    });
+  },
+
+  _matches: function (filter, pkgInfo) {
+    if (filter.os && filter.os.test(os.type())) {
+      return true;
+    }
+
+    if (filter.pkgName) {
+      if (filter.pkgName.test(pkgInfo.pkgName)) {
+        if (!filter.interfaceName) {
+          return true;
+        }
+      } else {
+        return false;
+      }
+    }
+
+    if (
+      filter.interfaceName &&
+      filter.interfaceName.test(pkgInfo.interfaceName)
+    ) {
+      return true;
+    }
+
+    return false;
+  },
+
+  load: function (
+    blocklistPath = path.join(__dirname, '../rosidl_gen/blocklist.json')
+  ) {
+    this._loaded = true;
+
+    if (!fs.existsSync(blocklistPath)) return;
+
+    // eslint-disable-next-line
+    let blocklistData = JSON.parse(fs.readFileSync(blocklistPath, 'utf8'));
+
+    let filters = blocklistData.map((pkgFilterData) => {
+      let filter = {};
+      if (pkgFilterData['pkgName']) {
+        filter.pkgName = new RegExp(pkgFilterData.pkgName);
+      }
+      if (pkgFilterData['interfaceName']) {
+        filter.interfaceName = new RegExp(pkgFilterData.interfaceName);
+      }
+      if (pkgFilterData['os']) {
+        filter.os = new RegExp(pkgFilterData.os);
+      }
+      return filter;
+    });
+
+    this.filters = filters.filter(
+      (filter) => !filter.os || filter.os.test(os.type())
+    );
+  },
+
+  matchesAny: function (pkgInfo) {
+    if (!this._loaded) this.load();
+    return this.filters.some((filter) => this._matches(filter, pkgInfo));
+  },
+};
+
+module.exports = RosPackageFilters;

package/rosidl_gen/idl_generator.js

@@ -30,6 +30,13 @@ function removeEmptyLines(str) {
   return str.replace(/^\s*\n/gm, '');
 }
 
+/**
+ * Output generated code to disk. Do not overwrite
+ * an existing file. If file already exists do nothing.
+ * @param {string} dir
+ * @param {string} fileName
+ * @param {string} code
+ */
 async function writeGeneratedCode(dir, fileName, code) {
   await fse.mkdirs(dir);
   await fse.writeFile(path.join(dir, fileName), code);

package/rosidl_gen/index.js

@@ -20,13 +20,16 @@ const packages = require('./packages.js');
 const path = require('path');
 
 const generatedRoot = path.join(__dirname, '../generated/');
-const installedPackagePaths = process.env.AMENT_PREFIX_PATH.split(
-  path.delimiter
-);
+
+function getInstalledPackagePaths() {
+  return process.env.AMENT_PREFIX_PATH.split(path.delimiter);
+}
 
 async function generateInPath(path) {
   const pkgs = await packages.findPackagesInDirectory(path);
+
   const pkgsInfo = Array.from(pkgs.values());
+
   await Promise.all(
     pkgsInfo.map((pkgInfo) => generateJSStructFromIDL(pkgInfo, generatedRoot))
   );
@@ -38,13 +41,23 @@ async function generateAll(forcedGenerating) {
   // all the JavaScript files will be created.
   const exist = await fse.exists(generatedRoot);
   if (forcedGenerating || !exist) {
+    if (exist) {
+      // recursively clear all previously generated struct files
+      await fse.emptyDir(generatedRoot);
+    }
+
     await fse.copy(
       path.join(__dirname, 'generator.json'),
       path.join(generatedRoot, 'generator.json')
     );
-    await Promise.all(
-      installedPackagePaths.map((path) => generateInPath(path))
-    );
+
+    // Process in AMENT_PREFIX_PATH in reverse order to
+    // such that interfaces defined earlier on the AMENX_PREFIX_PATH
+    // have higher priority over earlier versions and will override
+    // them - occurences of this are expected to be rare.
+    for (let path of getInstalledPackagePaths().reverse()) {
+      await generateInPath(path);
+    }
   }
 }
 

package/rosidl_gen/packages.js

@@ -21,6 +21,7 @@ const path = require('path');
 const walk = require('walk');
 const os = require('os');
 const flat = require('array.prototype.flat');
+const pkgFilters = require('../rosidl_gen/filter.js');
 
 const fsp = fs.promises;
 
@@ -140,28 +141,30 @@ async function findAmentPackagesInDirectory(dir) {
     pkgs.map((pkg) => getPackageDefinitionsFiles(pkg, dir))
   );
 
-  // Support flat() methond for nodejs < 11.
+  // Support flat() method for nodejs < 11.
   const rosFiles = Array.prototype.flat ? files.flat() : flat(files);
 
   const pkgMap = new Map();
   return new Promise((resolve, reject) => {
     rosFiles.forEach((filePath) => {
-      if (path.extname(filePath) === '.msg') {
-        // Some .msg files were generated prior to 0.3.2 for .action files,
-        // which has been disabled. So these files should be ignored here.
-        if (path.dirname(dir).split(path.sep).pop() !== 'action') {
-          addInterfaceInfo(
-            grabInterfaceInfo(filePath, true),
-            'messages',
-            pkgMap
-          );
-        }
-      } else if (path.extname(filePath) === '.srv') {
-        addInterfaceInfo(grabInterfaceInfo(filePath, true), 'services', pkgMap);
-      } else if (path.extname(filePath) === '.action') {
-        addInterfaceInfo(grabInterfaceInfo(filePath, true), 'actions', pkgMap);
+      const interfaceInfo = grabInterfaceInfo(filePath, true);
+      const ignore = pkgFilters.matchesAny(interfaceInfo);
+      if (ignore) {
+        console.log('Omitting filtered interface: ', interfaceInfo);
       } else {
-        // we ignore all other files
+        if (path.extname(filePath) === '.msg') {
+          // Some .msg files were generated prior to 0.3.2 for .action files,
+          // which has been disabled. So these files should be ignored here.
+          if (path.dirname(dir).split(path.sep).pop() !== 'action') {
+            addInterfaceInfo(interfaceInfo, 'messages', pkgMap);
+          }
+        } else if (path.extname(filePath) === '.srv') {
+          addInterfaceInfo(interfaceInfo, 'services', pkgMap);
+        } else if (path.extname(filePath) === '.action') {
+          addInterfaceInfo(interfaceInfo, 'actions', pkgMap);
+        } else {
+          // we ignore all other files
+        }
       }
     });
     resolve(pkgMap);
@@ -191,30 +194,27 @@ async function findPackagesInDirectory(dir) {
       let walker = walk.walk(dir, { followLinks: true });
       let pkgMap = new Map();
       walker.on('file', (root, file, next) => {
-        if (path.extname(file.name) === '.msg') {
-          // Some .msg files were generated prior to 0.3.2 for .action files,
-          // which has been disabled. So these files should be ignored here.
-          if (path.dirname(root).split(path.sep).pop() !== 'action') {
-            addInterfaceInfo(
-              grabInterfaceInfo(path.join(root, file.name), amentExecuted),
-              'messages',
-              pkgMap
-            );
-          }
-        } else if (path.extname(file.name) === '.srv') {
-          addInterfaceInfo(
-            grabInterfaceInfo(path.join(root, file.name), amentExecuted),
-            'services',
-            pkgMap
-          );
-        } else if (path.extname(file.name) === '.action') {
-          addInterfaceInfo(
-            grabInterfaceInfo(path.join(root, file.name), amentExecuted),
-            'actions',
-            pkgMap
-          );
+        const interfaceInfo = grabInterfaceInfo(
+          path.join(root, file.name),
+          amentExecuted
+        );
+        const ignore = pkgFilters.matchesAny(interfaceInfo);
+        if (ignore) {
+          console.log('Omitting filtered interface: ', interfaceInfo);
         } else {
-          // we ignore all other files
+          if (path.extname(file.name) === '.msg') {
+            // Some .msg files were generated prior to 0.3.2 for .action files,
+            // which has been disabled. So these files should be ignored here.
+            if (path.dirname(root).split(path.sep).pop() !== 'action') {
+              addInterfaceInfo(interfaceInfo, 'messages', pkgMap);
+            }
+          } else if (path.extname(file.name) === '.srv') {
+            addInterfaceInfo(interfaceInfo, 'services', pkgMap);
+          } else if (path.extname(file.name) === '.action') {
+            addInterfaceInfo(interfaceInfo, 'actions', pkgMap);
+          } else {
+            // we ignore all other files
+          }
         }
         next();
       });

package/rostsd_gen/index.js

@@ -31,6 +31,7 @@ declare module "rclnodejs" {
 const path = require('path');
 const fs = require('fs');
 const loader = require('../lib/interface_loader.js');
+const pkgFilters = require('../rosidl_gen/filter.js');
 
 async function generateAll() {
   // load pkg and interface info (msgs and srvs)
@@ -63,7 +64,14 @@ function getPkgInfos(rootDir) {
 
     for (let filename of files) {
       const typeClass = fileName2Typeclass(filename);
-      if (!typeClass.type) continue;
+      if (
+        !typeClass.type ||
+        pkgFilters.matchesAny({
+          pkgName: typeClass.package,
+          interfaceName: typeClass.name,
+        })
+      )
+        continue;
 
       const rosInterface = loader.loadInterface(typeClass);
 

package/scripts/run_test.js

@@ -20,12 +20,6 @@ const os = require('os');
 const path = require('path');
 
 let rootDir = path.dirname(__dirname);
-let actionPath = path.join(rootDir, 'test', 'ros1_actions');
-process.env.AMENT_PREFIX_PATH =
-  process.env.AMENT_PREFIX_PATH + path.delimiter + actionPath;
-let msgPath = path.join(rootDir, 'test', 'rclnodejs_test_msgs');
-process.env.AMENT_PREFIX_PATH =
-  process.env.AMENT_PREFIX_PATH + path.delimiter + msgPath;
 
 fs.remove(path.join(path.dirname(__dirname), 'generated'), (err) => {
   if (!err) {

package/src/rcl_bindings.cpp

@@ -36,6 +36,7 @@
 #include <rosidl_generator_c/string_functions.h>
 #endif
 
+#include <iostream>
 #include <memory>
 #include <string>
 #include <vector>
@@ -652,6 +653,8 @@ NAN_METHOD(CreateSubscription) {
       *Nan::Utf8String(info[3]->ToString(currentContent).ToLocalChecked()));
   std::string topic(
       *Nan::Utf8String(info[4]->ToString(currentContent).ToLocalChecked()));
+  v8::Local<v8::Object> options =
+      info[5]->ToObject(currentContent).ToLocalChecked();
 
   rcl_subscription_t* subscription =
       reinterpret_cast<rcl_subscription_t*>(malloc(sizeof(rcl_subscription_t)));
@@ -659,12 +662,75 @@ NAN_METHOD(CreateSubscription) {
 
   rcl_subscription_options_t subscription_ops =
       rcl_subscription_get_default_options();
-  auto qos_profile = GetQoSProfile(info[5]);
 
+  v8::Local<v8::Value> qos =
+      Nan::Get(options, Nan::New("qos").ToLocalChecked()).ToLocalChecked();
+  auto qos_profile = GetQoSProfile(qos);
   if (qos_profile) {
     subscription_ops.qos = *qos_profile;
   }
 
+#if ROS_VERSION >= 2205  // 2205 => Humble+
+  if (Nan::Has(options, Nan::New("contentFilter").ToLocalChecked())
+          .FromMaybe(false)) {
+    // configure content-filter
+    v8::MaybeLocal<v8::Value> contentFilterVal =
+        Nan::Get(options, Nan::New("contentFilter").ToLocalChecked());
+
+    if (!Nan::Equals(contentFilterVal.ToLocalChecked(), Nan::Undefined())
+             .ToChecked()) {
+      v8::Local<v8::Object> contentFilter = contentFilterVal.ToLocalChecked()
+                                                ->ToObject(currentContent)
+                                                .ToLocalChecked();
+
+      // expression property is required
+      std::string expression(*Nan::Utf8String(
+          Nan::Get(contentFilter, Nan::New("expression").ToLocalChecked())
+              .ToLocalChecked()
+              ->ToString(currentContent)
+              .ToLocalChecked()));
+
+      // parameters property (string[]) is optional
+      int argc = 0;
+      char** argv = nullptr;
+
+      if (Nan::Has(contentFilter, Nan::New("parameters").ToLocalChecked())
+              .FromMaybe(false)) {
+        v8::Local<v8::Array> jsArgv = v8::Local<v8::Array>::Cast(
+            Nan::Get(contentFilter, Nan::New("parameters").ToLocalChecked())
+                .ToLocalChecked());
+        argc = jsArgv->Length();
+        if (argc > 0) {
+          argv = reinterpret_cast<char**>(malloc(argc * sizeof(char*)));
+          for (int i = 0; i < argc; i++) {
+            Nan::MaybeLocal<v8::Value> jsElement = Nan::Get(jsArgv, i);
+            Nan::Utf8String utf8_arg(jsElement.ToLocalChecked());
+            int len = utf8_arg.length() + 1;
+            argv[i] = reinterpret_cast<char*>(malloc(len * sizeof(char*)));
+            snprintf(argv[i], len, "%s", *utf8_arg);
+          }
+        }
+      }
+
+      rcl_ret_t ret = rcl_subscription_options_set_content_filter_options(
+          expression.c_str(), argc, (const char**)argv, &subscription_ops);
+
+      if (ret != RCL_RET_OK) {
+        Nan::ThrowError(rcl_get_error_string().str);
+        rcl_reset_error();
+      }
+
+      if (argc) {
+        for (int i = 0; i < argc; i++) {
+          free(argv[i]);
+        }
+        free(argv);
+      }
+    }
+  }
+
+#endif
+
   const rosidl_message_type_support_t* ts =
       GetMessageTypeSupport(package_name, message_sub_folder, message_name);
 
@@ -689,6 +755,121 @@ NAN_METHOD(CreateSubscription) {
   }
 }
 
+NAN_METHOD(HasContentFilter) {
+#if ROS_VERSION < 2205  // 2205 => Humble+
+  info.GetReturnValue().Set(Nan::False());
+  return;
+#else
+
+  RclHandle* subscription_handle = RclHandle::Unwrap<RclHandle>(
+      Nan::To<v8::Object>(info[0]).ToLocalChecked());
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
+
+  bool is_valid = rcl_subscription_is_cft_enabled(subscription);
+  info.GetReturnValue().Set(Nan::New(is_valid));
+#endif
+}
+
+NAN_METHOD(SetContentFilter) {
+#if ROS_VERSION < 2205  // 2205 => Humble+
+  info.GetReturnValue().Set(Nan::False());
+  return;
+#else
+  v8::Local<v8::Context> currentContext = Nan::GetCurrentContext();
+  RclHandle* subscription_handle = RclHandle::Unwrap<RclHandle>(
+      Nan::To<v8::Object>(info[0]).ToLocalChecked());
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
+
+  v8::Local<v8::Object> contentFilter =
+      info[1]->ToObject(currentContext).ToLocalChecked();
+
+  Nan::MaybeLocal<v8::Value> jsExpression =
+      Nan::Get(contentFilter, Nan::New("expression").ToLocalChecked());
+  Nan::Utf8String utf8_arg(jsExpression.ToLocalChecked());
+  int len = utf8_arg.length() + 1;
+  char* expression = reinterpret_cast<char*>(malloc(len * sizeof(char*)));
+  snprintf(expression, len, "%s", *utf8_arg);
+
+  // parameters property (string[]) is optional
+  int argc = 0;
+  char** argv = nullptr;
+
+  if (Nan::Has(contentFilter, Nan::New("parameters").ToLocalChecked())
+          .FromMaybe(false)) {
+    v8::Local<v8::Array> jsArgv = v8::Local<v8::Array>::Cast(
+        Nan::Get(contentFilter, Nan::New("parameters").ToLocalChecked())
+            .ToLocalChecked());
+    argc = jsArgv->Length();
+    if (argc > 0) {
+      argv = reinterpret_cast<char**>(malloc(argc * sizeof(char*)));
+      for (int i = 0; i < argc; i++) {
+        Nan::MaybeLocal<v8::Value> jsElement = Nan::Get(jsArgv, i);
+        Nan::Utf8String utf8_arg(jsElement.ToLocalChecked());
+        int len = utf8_arg.length() + 1;
+        argv[i] = reinterpret_cast<char*>(malloc(len * sizeof(char*)));
+        snprintf(argv[i], len, "%s", *utf8_arg);
+      }
+    }
+  }
+
+  // create ctf options
+  rcl_subscription_content_filter_options_t options =
+      rcl_get_zero_initialized_subscription_content_filter_options();
+
+  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
+                           rcl_subscription_content_filter_options_set(
+                               subscription,
+                               expression,  // expression.c_str(),
+                               argc, (const char**)argv, &options),
+                           rcl_get_error_string().str);
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK, rcl_subscription_set_content_filter(subscription, &options),
+      rcl_get_error_string().str);
+
+  if (argc) {
+    free(expression);
+
+    for (int i = 0; i < argc; i++) {
+      free(argv[i]);
+    }
+    free(argv);
+  }
+
+  info.GetReturnValue().Set(Nan::True());
+#endif
+}
+
+NAN_METHOD(ClearContentFilter) {
+#if ROS_VERSION < 2205  // 2205 => Humble+
+  info.GetReturnValue().Set(Nan::False());
+  return;
+#else
+  RclHandle* subscription_handle = RclHandle::Unwrap<RclHandle>(
+      Nan::To<v8::Object>(info[0]).ToLocalChecked());
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
+
+  // create ctf options
+  rcl_subscription_content_filter_options_t options =
+      rcl_get_zero_initialized_subscription_content_filter_options();
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK,
+      rcl_subscription_content_filter_options_init(
+          subscription, "", 0, (const char**)nullptr, &options),
+      rcl_get_error_string().str);
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK, rcl_subscription_set_content_filter(subscription, &options),
+      rcl_get_error_string().str);
+
+  info.GetReturnValue().Set(Nan::True());
+#endif
+}
+
 NAN_METHOD(CreatePublisher) {
   v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
   // Extract arguments
@@ -1783,6 +1964,9 @@ std::vector<BindingMethod> binding_methods = {
     {"getRosTimeOverrideIsEnabled", GetRosTimeOverrideIsEnabled},
     {"rclTake", RclTake},
     {"createSubscription", CreateSubscription},
+    {"hasContentFilter", HasContentFilter},
+    {"setContentFilter", SetContentFilter},
+    {"clearContentFilter", ClearContentFilter},
     {"createPublisher", CreatePublisher},
     {"publish", Publish},
     {"getTopic", GetTopic},

package/types/entity.d.ts

@@ -7,5 +7,6 @@ declare module 'rclnodejs' {
     readonly qos: QoS;
     readonly typedArrayEnabled: boolean;
     readonly typeClass: TypeClass;
+    isDestroyed(): boolean;
   }
 }