rclnodejs 0.22.2 → 0.23.0

package/types/service.d.ts

@@ -76,5 +76,17 @@ declare module 'rclnodejs' {
      * Name of the service.
      */
     readonly serviceName: string;
+
+    /**
+     * Configure introspection.
+     * @param clock - Clock to use for service event timestamps
+     * @param QoSProfile - QOS profile for the service event publisher
+     * @param introspectionState - The state to set introspection to
+     */
+    configureIntrospection(
+      clock: Clock,
+      serviceEventPubQOS: QoS,
+      introspectionState: ServiceIntrospectionStates
+    ): void;
   }
 }

package/types/service_introspection.d.ts

@@ -0,0 +1,10 @@
+declare module 'rclnodejs' {
+  /**
+   * State identifiers for service introspection support.
+   */
+  export const enum ServiceIntrospectionStates {
+    OFF = 0,
+    METADATA = 1,
+    CONTENTS = 2,
+  }
+}

package/.github/workflows/identify-ros-distro.yml

@@ -1,45 +0,0 @@
-name:  Identify ROS Distro from GITHUB_REF_NAME
-
-on:
-  workflow_call:
-    outputs:
-      distro:
-        description: "The ROS distribution short name"
-        value: ${{ jobs.identify-ros-distro.outputs.distro }}
-      linuxos:
-        description: "The ROS compatible Linux version"
-        value: ${{ jobs.identify-ros-distro.outputs.linuxos }}
-env:
-  ROLLING_VAR: ${{ contains(github.ref, 'develop') }}
-  HUMBLE_VAR: ${{ contains(github.ref, 'humble') }}
-  GALACTIC_VAR: ${{ contains(github.ref, 'galactic') }}
-  FOXY_VAR: ${{ contains(github.ref, 'foxy') }}
-
-jobs:
-  identify-ros-distro:
-    runs-on: ubuntu-latest
-    outputs:
-      distro: ${{ steps.identify.outputs.distro }}
-      linuxos: ${{ steps.identify.outputs.linuxos }}
-    steps:
-      - name: Identify distro
-        id: identify
-        run: |
-          if ${ROLLING_VAR} == true; then
-            # echo "::set-output name=distro::rolling"
-            echo "::set-output name=distro::rolling"
-            echo "::set-output name=linuxos::ubuntu-22.04"
-          elif ${HUMBLE_VAR} == true; then
-            echo "::set-output name=distro::humble"
-            echo "::set-output name=linuxos::ubuntu-22.04"
-          elif ${GALACTIC_VAR} == true; then
-            echo "::set-output name=distro::galactic"
-            echo "::set-output name=linuxos::ubuntu-20.04"
-          elif ${FOXY_VAR} == true; then
-            echo "::set-output name=distro::foxy"
-            echo "::set-output name=linuxos::ubuntu-20.04"
-          else
-            echo "Unable to map branch name to ROS distro, using ROLLING as default"
-            echo "::set-output name=distro::rolling"
-            echo "::set-output name=linuxos::ubuntu-22.04"
-          fi

package/.github/workflows/linux-build-and-test-compatibility.yml

@@ -1,68 +0,0 @@
-name:  rclnodejs - Linux Build & Compatibility Test
-
-on:
-  workflow_dispatch:
-
-jobs:
-  build-humble-and-rolling: # humble and rolling distros
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-      matrix:
-        node-version: [14.X, 16.X, 18.X, 19.X]
-        ros_distribution:
-          - humble
-          - rolling
-
-    steps:
-    - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.6
-      with:
-        required-ros-distributions: ${{ matrix.ros_distribution }}
-
-    - name: Install test-msgs on Linux
-      run: |
-        sudo apt install ros-${{ matrix.ros_distribution }}-test-msgs
-    - uses: actions/checkout@v3
-
-    - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v3
-      with:
-        node-version: ${{ matrix.node-version }}
-
-    - name: Build and test rclnodejs
-      run: |
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        npm i
-        npm test
-
-  build-foxy: # foxy distros
-    runs-on: ubuntu-20.04
-    strategy:
-      fail-fast: false
-      matrix:
-        node-version: [14.X, 16.11.X, 18.X, 19.X]
-        ros_distribution:
-          - foxy
-
-    steps:
-    - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.6
-      with:
-        required-ros-distributions: ${{ matrix.ros_distribution }}
-
-    - name: Install test-msgs on Linux
-      run: |
-        sudo apt install ros-${{ matrix.ros_distribution }}-test-msgs
-    - uses: actions/checkout@v3
-
-    - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v3
-      with:
-        node-version: ${{ matrix.node-version }}
-
-    - name: Build and test rclnodejs
-      run: |
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        npm i
-        npm test

package/.github/workflows/linux-build-and-test.yml

@@ -1,51 +0,0 @@
-
-name:  rclnodejs - Linux Build and Test
-
-on:
-  push:
-    branches:
-      - develop
-      - humble-hawksbill
-      - galactic-geochelone
-      - foxy-fitzroy
-  pull_request:
-    branches:
-      - develop
-      - humble-hawksbill
-      - galactic-geochelone
-      - foxy-fitzroy
-  workflow_dispatch:
-
-jobs:
-  identify-ros-distro:
-    uses: ./.github/workflows/identify-ros-distro.yml
-
-  build:
-    needs: identify-ros-distro
-    runs-on: ${{ needs.identify-ros-distro.outputs.linuxos }}
-    strategy:
-      fail-fast: false
-      matrix:
-        node-version: [14.X, 16.X, 18.X, 19.X]
-    steps:
-    - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v3
-      with:
-        node-version: ${{ matrix.node-version }}
-
-    - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.6
-      with:
-        required-ros-distributions: ${{ needs.identify-ros-distro.outputs.distro }}
-
-    - name: Install test-msgs on Linux
-      run: |
-        sudo apt install ros-${{ needs.identify-ros-distro.outputs.distro }}-test-msgs
-
-    - uses: actions/checkout@v3
-
-    - name: Build and test rclnodejs
-      run: |
-        source /opt/ros/${{ needs.identify-ros-distro.outputs.distro }}/setup.bash
-        npm i
-        npm test

package/.github/workflows/windows-build-and-test-compatibility.yml

@@ -1,54 +0,0 @@
-
-name:  rclnodejs - Windows Build & Compatibility Test
-
-on:
-  workflow_dispatch:
-
-jobs:
-  build:
-    runs-on: windows-2019
-    strategy:
-      fail-fast: false
-      matrix:
-        node-version: [14.21.2, 16.19.0, 18.14.1, 19.X]
-        ros_distribution:
-          - foxy
-          - humble
-          - rolling
-    steps:
-    - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v3
-      with:
-        node-version: ${{ matrix.node-version }}
-
-    - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.6
-      with:
-        required-ros-distributions: ${{ matrix.ros_distribution }}
-
-    - name: Install ROS2 Rolling (Conditional)
-      if: ${{ matrix.ros_distribution == 'rolling' }}
-      shell: bash
-      run: |
-        wget --quiet https://ci.ros2.org/view/packaging/job/packaging_windows/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip -O rolling.zip
-        7z x rolling.zip -y -o/c/dev/rolling
-
-    - name: Prebuild - Setup VS Dev Environment
-      uses: seanmiddleditch/gha-setup-vsdevenv@v4
-
-    - uses: actions/checkout@v3
-
-    - name: Build rclnodejs
-      shell: cmd
-      run: |
-        call "c:\dev\${{ matrix.ros_distribution }}\ros2-windows\setup.bat"
-        npm i
-
-    # On the windows/foxy combination the Eclipse CycloneDDS RMW implementation is used to workaround 
-    # an error when loading the default fastrtps ddl
-    - name: Test rclnodejs
-      shell: cmd
-      run: |
-        call "c:\dev\${{ matrix.ros_distribution }}\ros2-windows\setup.bat"
-        cmd /c "if ${{ matrix.ros_distribution }}==foxy (set RMW_IMPLEMENTATION=rmw_cyclonedds_cpp&&npm test)"
-        cmd /c "if NOT ${{ matrix.ros_distribution }}==foxy (npm test)"

package/.github/workflows/windows-build-and-test.yml

@@ -1,68 +0,0 @@
-
-name:  rclnodejs - Windows Build & Test
-
-on:
-  push:
-    branches:
-      - develop
-      - humble-hawksbill
-      - galactic-geochelone
-      - foxy-fitzroy
-  pull_request:
-    branches:
-      - develop
-      - humble-hawksbill
-      - galactic-geochelone
-      - foxy-fitzroy
-  workflow_dispatch:
-
-jobs:
-  identify-ros-distro:
-    uses: ./.github/workflows/identify-ros-distro.yml
-
-  build:
-    needs: identify-ros-distro
-    runs-on: windows-2019
-    strategy:
-      fail-fast: false
-      matrix:
-        # Explicit node versions are used to workaround an error
-        # where node-gyp fails due to some silly cacheing
-        node-version: [14.21.2, 16.19.0, 18.14.1, 19.X]
-    steps:
-    - name: Setup Node.js ${{ matrix.node-version }}
-      uses: actions/setup-node@v3
-      with:
-        node-version: ${{ matrix.node-version }}
-
-    - name: Setup ROS2
-      uses: ros-tooling/setup-ros@v0.6
-      with:
-        required-ros-distributions: ${{ needs.identify-ros-distro.outputs.distro }}
-
-    - name: Install ROS2 Rolling (Conditional)
-      if: ${{ needs.identify-ros-distro.outputs.distro == 'rolling' }}
-      shell: bash
-      run: |
-        wget --quiet https://ci.ros2.org/view/packaging/job/packaging_windows/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip -O rolling.zip
-        7z x rolling.zip -y -o/c/dev/rolling
-
-    - name: Prebuild - Setup VS Dev Environment
-      uses: seanmiddleditch/gha-setup-vsdevenv@v4
-
-    - uses: actions/checkout@v3
-
-    - name: Build rclnodejs
-      shell: cmd
-      run: |
-        call "c:\dev\${{ needs.identify-ros-distro.outputs.distro }}\ros2-windows\setup.bat"
-        npm i
-
-    # On the windows/foxy combination the Eclipse CycloneDDS RMW implementation is used to workaround 
-    # an error when loading the default fastrtps ddl
-    - name: Test rclnodejs
-      shell: cmd
-      run: |
-        call "c:\dev\${{ needs.identify-ros-distro.outputs.distro }}\ros2-windows\setup.bat"
-        cmd /c "if ${{ needs.identify-ros-distro.outputs.distro }}==foxy (set RMW_IMPLEMENTATION=rmw_cyclonedds_cpp&&npm test)"
-        cmd /c "if NOT ${{ needs.identify-ros-distro.outputs.distro }}==foxy (npm test)"

package/.prettierrc.yml

@@ -1,4 +0,0 @@
-{
-  singleQuote: true,
-  trailingComma: es5,
-}

package/.vscode/settings.json

@@ -1,79 +0,0 @@
-{
-  "files.associations": {
-    "*.ipp": "cpp",
-    "string_view": "cpp",
-    "array": "cpp",
-    "string": "cpp",
-    "sstream": "cpp",
-    "cctype": "cpp",
-    "clocale": "cpp",
-    "cmath": "cpp",
-    "csignal": "cpp",
-    "cstdarg": "cpp",
-    "cstddef": "cpp",
-    "cstdio": "cpp",
-    "cstdlib": "cpp",
-    "cstring": "cpp",
-    "ctime": "cpp",
-    "cwchar": "cpp",
-    "cwctype": "cpp",
-    "any": "cpp",
-    "atomic": "cpp",
-    "strstream": "cpp",
-    "bit": "cpp",
-    "*.tcc": "cpp",
-    "bitset": "cpp",
-    "chrono": "cpp",
-    "codecvt": "cpp",
-    "compare": "cpp",
-    "complex": "cpp",
-    "concepts": "cpp",
-    "condition_variable": "cpp",
-    "cstdint": "cpp",
-    "deque": "cpp",
-    "forward_list": "cpp",
-    "list": "cpp",
-    "map": "cpp",
-    "set": "cpp",
-    "unordered_map": "cpp",
-    "unordered_set": "cpp",
-    "vector": "cpp",
-    "exception": "cpp",
-    "algorithm": "cpp",
-    "functional": "cpp",
-    "iterator": "cpp",
-    "memory": "cpp",
-    "memory_resource": "cpp",
-    "numeric": "cpp",
-    "optional": "cpp",
-    "random": "cpp",
-    "ratio": "cpp",
-    "system_error": "cpp",
-    "tuple": "cpp",
-    "type_traits": "cpp",
-    "utility": "cpp",
-    "fstream": "cpp",
-    "future": "cpp",
-    "initializer_list": "cpp",
-    "iomanip": "cpp",
-    "iosfwd": "cpp",
-    "iostream": "cpp",
-    "istream": "cpp",
-    "limits": "cpp",
-    "mutex": "cpp",
-    "new": "cpp",
-    "numbers": "cpp",
-    "ostream": "cpp",
-    "semaphore": "cpp",
-    "shared_mutex": "cpp",
-    "stdexcept": "cpp",
-    "stop_token": "cpp",
-    "streambuf": "cpp",
-    "thread": "cpp",
-    "cfenv": "cpp",
-    "cinttypes": "cpp",
-    "typeindex": "cpp",
-    "typeinfo": "cpp",
-    "variant": "cpp"
-  }
-}