rclnodejs 0.22.3 → 0.23.0

package/rostsd_gen/index.js

@@ -38,9 +38,9 @@ async function generateAll() {
   const generatedPath = path.join(__dirname, '../generated/');
   const pkgInfos = getPkgInfos(generatedPath);
 
-  // write message.d.ts file
-  const messagesFilePath = path.join(__dirname, '../types/interfaces.d.ts');
-  const fd = fs.openSync(messagesFilePath, 'w');
+  // write interfaces.d.ts file
+  const interfacesFilePath = path.join(__dirname, '../types/interfaces.d.ts');
+  const fd = fs.openSync(interfacesFilePath, 'w');
   savePkgInfoAsTSD(pkgInfos, fd);
   await wait(500); // hack to avoid random segfault
   fs.closeSync(fd);
@@ -235,7 +235,9 @@ function saveMsgAsTSD(rosMsgInterface, fd) {
     fd,
     `      export interface ${rosMsgInterface.type().interfaceName} {\n`
   );
-  const useSamePkg = isInternalActionMsgInterface(rosMsgInterface);
+  const useSamePkg =
+    isInternalActionMsgInterface(rosMsgInterface) ||
+    isInternalServiceEventMsgInterface(rosMsgInterface);
   saveMsgFieldsAsTSD(rosMsgInterface, fd, 8, ';', '', useSamePkg);
   fs.writeSync(fd, '      }\n');
 }
@@ -270,7 +272,6 @@ function saveMsgFieldsAsTSD(
       useSamePackageSubFolder && field.type.pkgName === type.pkgName
         ? type.subFolder
         : 'msg';
-
     let fieldType = fieldType2JSName(field, subFolder);
     let tp = field.type.isPrimitiveType ? '' : typePrefix;
     if (typePrefix === 'rclnodejs.') {
@@ -346,13 +347,6 @@ function isMsgInterface(rosInterface) {
   return rosInterface.hasOwnProperty('ROSMessageDef');
 }
 
-function isServiceMsgInterface(rosMsgInterface) {
-  if (!isMsgInterface(rosMsgInterface)) return false;
-
-  let name = rosMsgInterface.type().interfaceName;
-  return name.endsWith('_Request') || name.endsWith('_Response');
-}
-
 function isInternalActionMsgInterface(rosMsgInterface) {
   let name = rosMsgInterface.type().interfaceName;
   return (
@@ -364,6 +358,15 @@ function isInternalActionMsgInterface(rosMsgInterface) {
   );
 }
 
+function isInternalServiceEventMsgInterface(rosMsgInterface) {
+  let name = rosMsgInterface.type().interfaceName;
+  let subFolder = rosMsgInterface.type().subFolder;
+  return (
+    (subFolder == 'srv' || subFolder == 'action') 
+    && name.endsWith('_Event')
+  );
+}
+
 function isSrvInterface(rosInterface) {
   return (
     rosInterface.hasOwnProperty('Request') &&

package/scripts/npmjs-readme.md

@@ -1,4 +1,4 @@
-# rclnodejs [![Build Status](https://travis-ci.org/RobotWebTools/rclnodejs.svg?branch=develop)](https://travis-ci.org/RobotWebTools/rclnodejs)
+# rclnodejs ![GitHub Workflow Status](https://github.com/RobotWebTools/rclnodejs/actions/workflows/linux-build-and-test.yml/badge.svg?branch=iron-irwini)
 
 `rclnodejs` is a Node.js client for the Robot Operating System (ROS 2). It provides a simple and easy JavaScript API for ROS 2 programming. TypeScript declarations are included to support use of rclnodejs in TypeScript projects.
 
@@ -18,7 +18,7 @@ rclnodejs.init().then(() => {
 
 **Node.js**
 
-- [Node.js](https://nodejs.org/en/) version between 10.23 - 17.x.
+- [Node.js](https://nodejs.org/en/) version >= 16.13.0.
 
 **ROS 2 SDK**
 
@@ -43,14 +43,13 @@ npm i rclnodejs@x.y.z
 
 #### RCLNODEJS - ROS 2 Version Compatibility
 
-|                                                            RCLNODEJS Version                                                            |                                                                                                                                                                     Compatible ROS 2 Release                                                                                                                                                                     |
-| :-------------------------------------------------------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
-| [0.21.4 (current)](https://www.npmjs.com/package/rclnodejs/v/0.21.4) ([API](http://robotwebtools.org/rclnodejs/docs/0.21.3/index.html)) | [Humble Hawksbill](https://github.com/ros2/ros2/releases/tag/release-humble-20220523)<br>[Galactic Geochelone](https://github.com/ros2/ros2/releases/tag/release-galactic-20210716)<br>[Foxy Fitzroy](https://github.com/ros2/ros2/releases/tag/release-foxy-20201211)<br>[Eloquent Elusor](https://github.com/ros2/ros2/releases/tag/release-eloquent-20200124) |
-|                                [0.10.3](https://github.com/RobotWebTools/rclnodejs/releases/tag/0.10.3)                                 |                                                                                                                                [Dashing Diademata - Patch 4](https://github.com/ros2/ros2/releases/tag/release-dashing-20191018)                                                                                                                                 |
+|                                      RCLNODEJS Version                                       |                                                               Compatible ROS 2 LTS                                                                |
+| :------------------------------------------------------------------------------------------: | :-----------------------------------------------------------------------------------------------------------------------------------------------: |
+| latest version (currently [v0.22.3](https://github.com/RobotWebTools/rclnodejs/tree/0.22.3)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Iron](https://github.com/RobotWebTools/rclnodejs/tree/iron-irwini) |
 
 ## Documentation
 
-API [documentation](http://robotwebtools.org/rclnodejs/docs/index.html) is available online.
+API [documentation](https://robotwebtools.github.io/rclnodejs/docs/index.html) is available online.
 
 ## JavaScript Examples
 

package/src/rcl_bindings.cpp

@@ -36,6 +36,10 @@
 #include <rosidl_generator_c/string_functions.h>
 #endif
 
+#if ROS_VERSION > 2205
+#include <rcl/service_introspection.h>
+#endif
+
 #include <iostream>
 #include <memory>
 #include <string>
@@ -1120,6 +1124,68 @@ NAN_METHOD(SendResponse) {
                            RCL_RET_OK, rcl_get_error_string().str);
 }
 
+#if ROS_VERSION > 2205  // 2205 == Humble
+NAN_METHOD(ConfigureServiceIntrospection) {
+  v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
+
+  RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(
+      Nan::To<v8::Object>(info[1]).ToLocalChecked());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+
+  rcl_clock_t* clock = reinterpret_cast<rcl_clock_t*>(
+      RclHandle::Unwrap<RclHandle>(
+          Nan::To<v8::Object>(info[2]).ToLocalChecked())
+          ->ptr());
+
+  std::string interface_name(
+      *Nan::Utf8String(info[3]->ToString(currentContent).ToLocalChecked()));
+  std::string package_name(
+      *Nan::Utf8String(info[4]->ToString(currentContent).ToLocalChecked()));
+  const rosidl_service_type_support_t* ts =
+      GetServiceTypeSupport(package_name, interface_name);
+
+  if (ts) {
+    rcl_publisher_options_t publisher_ops = rcl_publisher_get_default_options();
+    auto qos_profile = GetQoSProfile(info[5]);
+    if (qos_profile) {
+      publisher_ops.qos = *qos_profile;
+    }
+
+    rcl_service_introspection_state_t state =
+        static_cast<rcl_service_introspection_state_t>(
+            Nan::To<uint32_t>(info[6]).ToChecked());
+
+    bool configureForService = Nan::To<bool>(info[7]).FromJust();
+
+    if (configureForService) {
+      RclHandle* service_handle = RclHandle::Unwrap<RclHandle>(
+          Nan::To<v8::Object>(info[0]).ToLocalChecked());
+      rcl_service_t* service =
+          reinterpret_cast<rcl_service_t*>(service_handle->ptr());
+
+      THROW_ERROR_IF_NOT_EQUAL(
+          rcl_service_configure_service_introspection(service, node, clock, ts,
+                                                      publisher_ops, state),
+          RCL_RET_OK, rcl_get_error_string().str);
+
+    } else {
+      RclHandle* client_handle = RclHandle::Unwrap<RclHandle>(
+          Nan::To<v8::Object>(info[0]).ToLocalChecked());
+      rcl_client_t* client =
+          reinterpret_cast<rcl_client_t*>(client_handle->ptr());
+
+      THROW_ERROR_IF_NOT_EQUAL(
+          rcl_client_configure_service_introspection(client, node, clock, ts,
+                                                     publisher_ops, state),
+          RCL_RET_OK, rcl_get_error_string().str);
+    }
+
+  } else {
+    Nan::ThrowError(GetErrorMessageAndClear().c_str());
+  }
+}
+#endif
+
 NAN_METHOD(ValidateFullTopicName) {
   v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
   int validation_result;
@@ -2011,6 +2077,11 @@ std::vector<BindingMethod> binding_methods = {
     {"serviceServerIsAvailable", ServiceServerIsAvailable},
     {"publishRawMessage", PublishRawMessage},
     {"rclTakeRaw", RclTakeRaw},
-    {"", nullptr}};
+    {"", nullptr}
+#if ROS_VERSION > 2205  // 2205 == Humble
+    ,
+    {"configureServiceIntrospection", ConfigureServiceIntrospection}
+#endif
+};
 
 }  // namespace rclnodejs

package/types/base.d.ts

@@ -21,6 +21,7 @@
 /// <reference path="qos.d.ts" />
 /// <reference path="rate.d.ts" />
 /// <reference path="service.d.ts" />
+/// <reference path="service_introspection.d.ts" />
 /// <reference path="subscription.d.ts" />
 /// <reference path="time_source.d.ts" />
 /// <reference path="time.d.ts" />

package/types/client.d.ts

@@ -40,6 +40,18 @@ declare module 'rclnodejs' {
      * Name of the service to which requests are made.
      */
     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;
   }
 
   namespace Client {