rclnodejs 0.23.3 → 0.25.0

package/lib/client.js

@@ -128,7 +128,7 @@ class Client extends Entity {
    * @type {string}
    */
   get serviceName() {
-    return this._serviceName;
+    return rclnodejs.getClientServiceName(this._handle);
   }
 
   /**

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

@@ -112,8 +112,7 @@ class Service extends Entity {
    * @type {string}
    */
   get serviceName() {
-    const fullServiceName = rclnodejs.getServiceName(this._handle); // returns /my_node/myservice
-    return fullServiceName.split('/').pop();
+    return rclnodejs.getServiceServiceName(this._handle);
   }
 
   /**

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": "0.23.3",
+  "version": "0.25.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.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>(
@@ -1097,16 +1107,6 @@ NAN_METHOD(RclTakeRequest) {
   info.GetReturnValue().Set(Nan::Undefined());
 }
 
-NAN_METHOD(GetServiceName) {
-  rcl_service_t* service = reinterpret_cast<rcl_service_t*>(
-      RclHandle::Unwrap<RclHandle>(
-          Nan::To<v8::Object>(info[0]).ToLocalChecked())
-          ->ptr());
-
-  const char* name = rcl_service_get_service_name(service);
-  info.GetReturnValue().Set(Nan::New(name).ToLocalChecked());
-}
-
 NAN_METHOD(SendResponse) {
   rcl_service_t* service = reinterpret_cast<rcl_service_t*>(
       RclHandle::Unwrap<RclHandle>(
@@ -2007,6 +2007,26 @@ NAN_METHOD(RclTakeRaw) {
                            "Failed to deallocate message buffer");
 }
 
+NAN_METHOD(GetClientServiceName) {
+  rcl_client_t* client = reinterpret_cast<rcl_client_t*>(
+      RclHandle::Unwrap<RclHandle>(
+          Nan::To<v8::Object>(info[0]).ToLocalChecked())
+          ->ptr());
+
+  const char* service_name = rcl_client_get_service_name(client);
+  info.GetReturnValue().Set(Nan::New(service_name).ToLocalChecked());
+}
+
+NAN_METHOD(GetServiceServiceName) {
+  rcl_service_t* service = reinterpret_cast<rcl_service_t*>(
+      RclHandle::Unwrap<RclHandle>(
+          Nan::To<v8::Object>(info[0]).ToLocalChecked())
+          ->ptr());
+
+  const char* service_name = rcl_service_get_service_name(service);
+  info.GetReturnValue().Set(Nan::New(service_name).ToLocalChecked());
+}
+
 std::vector<BindingMethod> binding_methods = {
     {"init", Init},
     {"createNode", CreateNode},
@@ -2039,12 +2059,12 @@ std::vector<BindingMethod> binding_methods = {
     {"clearContentFilter", ClearContentFilter},
     {"createPublisher", CreatePublisher},
     {"publish", Publish},
-    {"getTopic", GetTopic},
+    {"getPublisherTopic", GetPublisherTopic},
+    {"getSubscriptionTopic", GetSubscriptionTopic},
     {"createClient", CreateClient},
     {"rclTakeResponse", RclTakeResponse},
     {"sendRequest", SendRequest},
     {"createService", CreateService},
-    {"getServiceName", GetServiceName},
     {"rclTakeRequest", RclTakeRequest},
     {"sendResponse", SendResponse},
     {"shutdown", Shutdown},
@@ -2077,6 +2097,8 @@ std::vector<BindingMethod> binding_methods = {
     {"serviceServerIsAvailable", ServiceServerIsAvailable},
     {"publishRawMessage", PublishRawMessage},
     {"rclTakeRaw", RclTakeRaw},
+    {"getClientServiceName", GetClientServiceName},
+    {"getServiceServiceName", GetServiceServiceName},
     {"", nullptr}
 #if ROS_VERSION > 2205  // 2205 == Humble
     ,