rclnodejs 0.21.4 → 0.22.0

package/types/interfaces.d.ts

@@ -1751,6 +1751,22 @@ declare module 'rclnodejs' {
   }
 
   namespace rosbag2_interfaces {
+    namespace msg {
+      export interface ReadSplitEvent {
+        closed_file: string;
+        opened_file: string;
+      }
+      export interface ReadSplitEventConstructor {
+        new(other?: ReadSplitEvent): ReadSplitEvent;
+      }
+      export interface WriteSplitEvent {
+        closed_file: string;
+        opened_file: string;
+      }
+      export interface WriteSplitEventConstructor {
+        new(other?: WriteSplitEvent): WriteSplitEvent;
+      }
+    }
     namespace srv {
       export interface BurstConstructor extends ROSService {
         readonly Request: Burst_RequestConstructor;
@@ -3901,6 +3917,8 @@ declare module 'rclnodejs' {
     'ros2cli_test_interfaces/msg/ShortVariedNested': ros2cli_test_interfaces.msg.ShortVariedNested,
     'ros2cli_test_interfaces/srv/ShortVariedMultiNested_Request': ros2cli_test_interfaces.srv.ShortVariedMultiNested_Request,
     'ros2cli_test_interfaces/srv/ShortVariedMultiNested_Response': ros2cli_test_interfaces.srv.ShortVariedMultiNested_Response,
+    'rosbag2_interfaces/msg/ReadSplitEvent': rosbag2_interfaces.msg.ReadSplitEvent,
+    'rosbag2_interfaces/msg/WriteSplitEvent': rosbag2_interfaces.msg.WriteSplitEvent,
     'rosbag2_interfaces/srv/Burst_Request': rosbag2_interfaces.srv.Burst_Request,
     'rosbag2_interfaces/srv/Burst_Response': rosbag2_interfaces.srv.Burst_Response,
     'rosbag2_interfaces/srv/GetRate_Request': rosbag2_interfaces.srv.GetRate_Request,
@@ -4285,6 +4303,8 @@ declare module 'rclnodejs' {
     'ros2cli_test_interfaces/msg/ShortVariedNested': ros2cli_test_interfaces.msg.ShortVariedNestedConstructor,
     'ros2cli_test_interfaces/srv/ShortVariedMultiNested_Request': ros2cli_test_interfaces.srv.ShortVariedMultiNested_RequestConstructor,
     'ros2cli_test_interfaces/srv/ShortVariedMultiNested_Response': ros2cli_test_interfaces.srv.ShortVariedMultiNested_ResponseConstructor,
+    'rosbag2_interfaces/msg/ReadSplitEvent': rosbag2_interfaces.msg.ReadSplitEventConstructor,
+    'rosbag2_interfaces/msg/WriteSplitEvent': rosbag2_interfaces.msg.WriteSplitEventConstructor,
     'rosbag2_interfaces/srv/Burst_Request': rosbag2_interfaces.srv.Burst_RequestConstructor,
     'rosbag2_interfaces/srv/Burst_Response': rosbag2_interfaces.srv.Burst_ResponseConstructor,
     'rosbag2_interfaces/srv/GetRate_Request': rosbag2_interfaces.srv.GetRate_RequestConstructor,

package/types/node.d.ts

@@ -13,6 +13,30 @@ declare module 'rclnodejs' {
         name: string;
       };
 
+  /**
+   * A filter description similar to a SQL WHERE clause that limits
+   * the data wanted by a Subscription.
+   *
+   * The `expression` grammar is defined in the DDS 1.4 specification, Annex B.
+   * https://www.omg.org/spec/DDS/1.4/PDF
+   */
+  interface SubscriptionContentFilter {
+    /**
+     * Specifies the criteria to select the data samples of
+     * interest. It is similar to the WHERE part of an SQL clause.
+     * Must be a valid query clause.
+     */
+    readonly expression: string;
+
+    /**
+     * The values for the ‘parameters’ (i.e., "%n" tokens) in
+     * the filter_expression string. There must be a 1-1 match
+     * between values and expression parameters. The maximum
+     * number of parameters is 100.
+     */
+    readonly parameters?: Array<any>;
+  }
+
   /**
    * Configuration options when creating new Publishers, Subscribers,
    * Clients and Services.
@@ -37,16 +61,23 @@ declare module 'rclnodejs' {
      * ROS Middleware "quality of service" setting, default: QoS.profileDefault.
      */
     qos?: T;
+
+    /**
+     * An optional filter descriptions similar to a SQL WHERE clause used by a Subscription to
+     * inspect and limit messages that it accepts.
+     */
+    contentFilter?: SubscriptionContentFilter;
   }
 
   /**
-   * Default options when creating a Node, Publisher, Subscription, Client or Service
+   * Default options when creating a Publisher, Subscription, Client or Service
    *
    * ```ts
    * {
    *   enableTypedArray: true,
    *   qos: QoS.profileDefault,
-   *   isRaw: false
+   *   isRaw: false,
+   *   contentFilter: undefined
    * }
    * ```
    */
@@ -133,6 +164,21 @@ declare module 'rclnodejs' {
       options?: NodeOptions
     );
 
+    /**
+     * Create an Options instance initialized with default values.
+     * @returns {Options} - The new initialized instance.
+     * @example
+     * ```
+     * {
+     *   enableTypedArray: true,
+     *   isRaw: false,
+     *   qos: QoS.profileDefault,
+     *   contentFilter: undefined,
+     * }
+     * ```
+     */
+    static getDefaultOptions(): Options;
+
     /**
      * Get the name of the node.
      *
@@ -271,6 +317,8 @@ declare module 'rclnodejs' {
      * @param options - Configuration options, see DEFAULT_OPTIONS
      * @param callback - Called when a new message is received. The serialized message will be null-terminated.
      * @returns New instance of Subscription.
+     * @throws Error - May throw an RMW error if options.content-filter is malformed.
+     * @see {@link https://www.omg.org/spec/DDS/1.4/PDF|Content-filter details at DDS 1.4 specification, Annex B}
      */
     createSubscription<T extends TypeClass<MessageTypeClassName>>(
       typeClass: T,

package/types/subscription.d.ts

@@ -6,6 +6,7 @@ declare module 'rclnodejs' {
    *
    * @remarks
    * See {@link Node#createSubscription | Node.createSubscription}
+   * See {@link SubscriptionContentFilter}
    * See {@link Node#createPublisher | Node.createPublisher}
    * See {@link Publisher}
    * See {@link Subscription}
@@ -22,5 +23,32 @@ declare module 'rclnodejs' {
      * Topic to listen for messages on.
      */
     readonly topic: string;
+
+    /**
+     * Specifies if messages are in raw (binary) format
+     */
+    readonly isRaw: boolean;
+
+    /**
+     * Test if the RMW supports content-filtered topics and that this subscription
+     * is configured with a well formed content-filter.
+     * @returns {boolean} True if content-filtering will be applied; otherwise false.
+     */
+    hasContentFilter(): boolean;
+
+    /**
+     * Set a content-filter if the RMW supports content-filtered topics.
+     * @param contentFilter - The content-filter description to apply.
+     * @returns True if successful; false otherwise
+     * @remarks
+     * @see {@link https://www.omg.org/spec/DDS/1.4/PDF|DDS 1.4 specification, Annex B}
+     */
+    setContentFilter(filter: SubscriptionContentFilter): boolean;
+
+    /**
+     * Clear the current content-filter. No filtering is to be applied.
+     * @returns True if successful; false otherwise
+     */
+    clearContentFilter(): boolean;
   }
 }