rclnodejs 0.32.5 → 1.0.0

package/types/node.d.ts

@@ -685,6 +685,22 @@ declare module 'rclnodejs' {
       namespace?: string
     ): Array<NamesAndTypesQueryResult>;
 
+    /**
+     * Get a remote node's client topics.
+     *
+     * @param remoteNodeName - Name of the remote node.
+     * @param namespace - Name of the remote namespace.
+     * @returns An array of the names and types.
+     *        [
+     *          { name: '/rosout', types: [ 'rcl_interfaces/msg/Log' ] },
+     *          ...
+     *        ]
+     */
+    getClientNamesAndTypesByNode(
+      remoteNodeName: string,
+      namespace?: string
+    ): Array<NamesAndTypesQueryResult>;
+
     /**
      * Get this node's topics and corresponding types.
      *
@@ -711,6 +727,29 @@ declare module 'rclnodejs' {
      */
     getServiceNamesAndTypes(): Array<NamesAndTypesQueryResult>;
 
+    /**
+     * Get an array of publishers on a given topic.
+     *
+     * @param topic - The name of the topic.
+     * @param noDemangle - if `true`, `topic_name` needs to be a valid middleware topic name,
+     *       otherwise it should be a valid ROS topic name.
+     * @returns An array of publishers.
+     */
+    getPublishersInfoByTopic(topic: string, noDemangle: boolean): Array<object>;
+
+    /**
+     * Get an array of subscriptions on a given topic.
+     *
+     * @param topic - The name of the topic.
+     * @param noDemangle - if `true`, `topic_name` needs to be a valid middleware topic name,
+     *     otherwise it should be a valid ROS topic name.
+     * @returns An array of subscriptions.
+     */
+    getSubscriptionsInfoByTopic(
+      topic: string,
+      noDemangle: boolean
+    ): Array<object>;
+
     /**
      * Get the list of nodes discovered by the provided node.
      *
@@ -743,5 +782,19 @@ declare module 'rclnodejs' {
      * @returns Number of subscribers on the given topic.
      */
     countSubscribers(topic: string): number;
+
+    /**
+     * Get the number of clients on a given service name.
+     * @param serviceName - The service name.
+     * @returns Number of clients.
+     */
+    countClients(serviceName: string): number;
+
+    /**
+     * Get the number of services  on a given service name.
+     * @param serviceName - The service name.
+     * @returns Number of services.
+     */
+    countServices(serviceName: string): number;
   }
 }

package/types/publisher.d.ts

@@ -14,5 +14,11 @@ declare module 'rclnodejs' {
      * @param message - The message to be sent.
      */
     publish(message: MessageType<T> | Buffer): void;
+
+    /**
+     * Get the number of subscriptions to this publisher.
+     * @returns The number of subscriptions
+     */
+    subscriptionCount(): number;
   }
 }

package/types/service.d.ts

@@ -88,5 +88,11 @@ declare module 'rclnodejs' {
       serviceEventPubQOS: QoS,
       introspectionState: ServiceIntrospectionStates
     ): void;
+
+    /**
+     * Get the options of this service.
+     * @return The options of this service.
+     */
+    getOptions(): object;
   }
 }

package/types/subscription.d.ts

@@ -66,5 +66,11 @@ declare module 'rclnodejs' {
      * @returns True if successful; false otherwise
      */
     clearContentFilter(): boolean;
+
+    /**
+     * Get the number of publishers to this subscription.
+     * @returns The number of publishers
+     */
+    publisherCount(): number;
   }
 }

package/types/timer.d.ts

@@ -45,5 +45,23 @@ declare module 'rclnodejs' {
      * @returns The interval value in nanoseconds
      */
     timeUntilNextCall(): bigint;
+
+    /**
+     * Change the timer period.
+     * @param period - The new period in nanoseconds.
+     */
+    changeTimerPeriod(period: bigint): void;
+
+    /**
+     * Get the timer period.
+     * @return The period in nanoseconds.
+     */
+    timerPeriod(): bigint;
+
+    /**
+     * Call a timer and starts counting again, retrieves actual and expected call time.
+     * @return - The timer information.
+     */
+    callTimerWithInfo(): object;
   }
 }