rclnodejs 0.23.2 → 0.24.0

package/lib/publisher.js

@@ -32,8 +32,7 @@ class Publisher extends Entity {
    * @type {string}
    */
   get topic() {
-    const fullTopic = rclnodejs.getTopic(this._handle); // returns /my_node/mytopic
-    return fullTopic.split('/').pop();
+    return rclnodejs.getPublisherTopic(this._handle);
   }
 
   /**

package/lib/service.js

@@ -75,17 +75,18 @@ class Service extends Entity {
 
     const plainObj = request.toPlainObject(this.typedArrayEnabled);
     const response = new Response(this, headerHandle);
-    let responseToReturn = this._callback(plainObj, response);
+    Promise.resolve(this._callback(plainObj, response)).then((responseToReturn) => {
 
-    if (!response.sent && responseToReturn) {
-      responseToReturn = new this._typeClass.Response(responseToReturn);
-      const rawResponse = responseToReturn.serialize();
-      rclnodejs.sendResponse(this._handle, rawResponse, headerHandle);
-    }
+      if (!response.sent && responseToReturn) {
+        responseToReturn = new this._typeClass.Response(responseToReturn);
+        const rawResponse = responseToReturn.serialize();
+        rclnodejs.sendResponse(this._handle, rawResponse, headerHandle);
+      }
 
-    debug(
-      `Service has processed the ${this._serviceName} request and sent the response.`
-    );
+      debug(
+        `Service has processed the ${this._serviceName} request and sent the response.`
+      );
+    });
   }
 
   static createService(nodeHandle, serviceName, typeClass, options, callback) {

package/lib/subscription.js

@@ -70,7 +70,7 @@ class Subscription extends Entity {
    * @type {string}
    */
   get topic() {
-    return this._topic;
+    return rclnodejs.getSubscriptionTopic(this._handle);
   }
 
   /**

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.23.2",
+  "version": "0.24.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",
@@ -23,7 +23,7 @@
     "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",
+    "dtslint": "node scripts/generate_tsd.js",
     "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",
     "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}"
   },

package/src/rcl_bindings.cpp

@@ -942,7 +942,7 @@ NAN_METHOD(Publish) {
   info.GetReturnValue().Set(Nan::Undefined());
 }
 
-NAN_METHOD(GetTopic) {
+NAN_METHOD(GetPublisherTopic) {
   rcl_publisher_t* publisher = reinterpret_cast<rcl_publisher_t*>(
       RclHandle::Unwrap<RclHandle>(
           Nan::To<v8::Object>(info[0]).ToLocalChecked())
@@ -952,6 +952,16 @@ NAN_METHOD(GetTopic) {
   info.GetReturnValue().Set(Nan::New(topic).ToLocalChecked());
 }
 
+NAN_METHOD(GetSubscriptionTopic) {
+  rcl_subscription_t* subscription = reinterpret_cast<rcl_subscription_t*>(
+      RclHandle::Unwrap<RclHandle>(
+          Nan::To<v8::Object>(info[0]).ToLocalChecked())
+          ->ptr());
+
+  const char* topic = rcl_subscription_get_topic_name(subscription);
+  info.GetReturnValue().Set(Nan::New(topic).ToLocalChecked());
+}
+
 NAN_METHOD(CreateClient) {
   v8::Local<v8::Context> currentContent = Nan::GetCurrentContext();
   RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(
@@ -2039,7 +2049,8 @@ std::vector<BindingMethod> binding_methods = {
     {"clearContentFilter", ClearContentFilter},
     {"createPublisher", CreatePublisher},
     {"publish", Publish},
-    {"getTopic", GetTopic},
+    {"getPublisherTopic", GetPublisherTopic},
+    {"getSubscriptionTopic", GetSubscriptionTopic},
     {"createClient", CreateClient},
     {"rclTakeResponse", RclTakeResponse},
     {"sendRequest", SendRequest},