rclnodejs 0.28.1 → 0.29.0

package/README.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                      RCLNODEJS Version                                       |                                                             Compatible ROS 2 LTS                                                             |
 | :------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v0.28.1](https://github.com/RobotWebTools/rclnodejs/tree/0.28.1)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
+| latest version (currently [v0.29.0](https://github.com/RobotWebTools/rclnodejs/tree/0.29.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
 
 ## Documentation
 

package/lib/node.js

@@ -1273,6 +1273,26 @@ class Node extends rclnodejs.ShadowNode {
     return params;
   }
 
+  /**
+   * Get the types of given parameters.
+   *
+   * Return the types of given parameters.
+   *
+   * @param {string[]} [names] - The names of the declared parameters.
+   * @return {Uint8Array} - The types.
+   */
+  getParameterTypes(names = []) {
+    let types = [];
+
+    for (const name of names) {
+      const descriptor = this._parameterDescriptors.get(name);
+      if (descriptor) {
+        types.push(descriptor.type);
+      }
+    }
+    return types;
+  }
+
   /**
    * Get the names of all declared parameters.
    *

package/lib/parameter_service.js

@@ -110,6 +110,16 @@ class ParameterService {
       }
     );
 
+    // Create GetParameterTypes service.
+    const getParameterTypesServiceName = nodeName + '/get_parameter_types';
+    this._node.createService(
+      'rcl_interfaces/srv/GetParameterTypes',
+      getParameterTypesServiceName,
+      (request, response) => {
+        this._handleGetParameterTypes(request, response);
+      }
+    );
+
     // create SetParametersAtomically service
     const setParametersAtomicallyServiceName =
       nodeName + '/set_parameters_atomically';
@@ -266,6 +276,23 @@ class ParameterService {
     response.send(msg);
   }
 
+  /**
+   * Get a list of parameter types.
+   *
+   * request.names identifies the parameter types to get.
+   *
+   * @param {GetParameterTypes_Request} request - The client request.
+   * @param {GetParameterTypes_Response} response - The service response with
+   *    Uint8Array.
+   * @return {undefined} -
+   */
+  _handleGetParameterTypes(request, response) {
+    const types = this._node.getParameterTypes(request.names);
+    const msg = response.template;
+    msg.types = types;
+    response.send(msg);
+  }
+
   /**
    * Update a list of parameters atomically.
    *

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "0.28.1",
+  "version": "0.29.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",

package/scripts/npmjs-readme.md

@@ -45,7 +45,7 @@ npm i rclnodejs@x.y.z
 
 |                                      RCLNODEJS Version                                       |                                                             Compatible ROS 2 LTS                                                             |
 | :------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v0.28.1](https://github.com/RobotWebTools/rclnodejs/tree/0.28.1)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
+| latest version (currently [v0.29.0](https://github.com/RobotWebTools/rclnodejs/tree/0.29.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
 
 ## Documentation
 

package/types/index.d.ts

@@ -144,6 +144,13 @@ declare module 'rclnodejs' {
     type: T
   ): MessageType<T>;
 
+  /**
+   * Removes the default signal handler installed by rclnodejs. After calling this, rclnodejs
+   * will no longer clean itself up when a SIGINT is received, it is the application's
+   * responsibility to properly shut down all nodes and contexts.
+   */
+  function removeSignalHandlers(): void;
+
   /**
    * Get a list of action names and types for action clients associated with a node.
    * @param node - The node used for discovery.

package/types/node.d.ts

@@ -324,7 +324,7 @@ declare module 'rclnodejs' {
       typeClass: T,
       topic: string,
       options: Options,
-      callback: SubscriptionCallback<T>
+      callback: SubscriptionCallback<T> | SubscriptionWithRawMessageCallback
     ): Subscription;
 
     /**

package/types/subscription.d.ts

@@ -13,7 +13,23 @@ declare module 'rclnodejs' {
    */
   type SubscriptionCallback<T extends TypeClass<MessageTypeClassName>> =
     // * @param message - The published message
-    (message: MessageType<T> | Buffer) => void;
+    (message: MessageType<T>) => void;
+
+  /**
+   * A callback for receiving published raw messages.
+   *
+   * @param message - The published message.
+   *
+   * @remarks
+   * See {@link Node#createSubscription | Node.createSubscription}
+   * See {@link SubscriptionContentFilter}
+   * See {@link Node#createPublisher | Node.createPublisher}
+   * See {@link Publisher}
+   * See {@link Subscription}
+   */
+  type SubscriptionWithRawMessageCallback =
+    // * @param message - The published raw message
+    (message: Buffer) => void;
 
   /**
    * A ROS Subscription for published messages on a topic.