rclnodejs 1.0.0 → 1.1.0

package/README.md

@@ -43,9 +43,9 @@ npm i rclnodejs@x.y.z
 
 #### RCLNODEJS - ROS 2 Version Compatibility
 
-|                                     RCLNODEJS Version                                      |                                                             Compatible ROS 2 LTS                                                             |
-| :----------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v1.0.0](https://github.com/RobotWebTools/rclnodejs/tree/1.0.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
+|                                     RCLNODEJS Version                                      |                                                                                               Compatible ROS 2 LTS                                                                                               |
+| :----------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
+| latest version (currently [v1.1.0](https://github.com/RobotWebTools/rclnodejs/tree/1.1.0)) | [Kilted](https://github.com/RobotWebTools/rclnodejs/tree/kilted)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy)<br>[Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill) |
 
 ## Documentation
 

package/binding.gyp

@@ -166,6 +166,14 @@
             ]
           }
         ],
+        [
+          # After Humble, e.g., Jazzy, Kilted.
+          'ros_version > 2205', {
+            'sources': [
+              './src/rcl_type_description_service_bindings.cpp',
+            ]
+          }
+        ],
         [
           'runtime=="electron"', {
             "defines": ["NODE_RUNTIME_ELECTRON=1"]

package/lib/action/client.js

@@ -19,6 +19,7 @@ const ActionInterfaces = require('./interfaces.js');
 const ActionUuid = require('./uuid.js');
 const ClientGoalHandle = require('./client_goal_handle.js');
 const Deferred = require('./deferred.js');
+const DistroUtils = require('../distro.js');
 const Entity = require('../entity.js');
 const loader = require('../interface_loader.js');
 const QoS = require('../qos.js');
@@ -371,6 +372,45 @@ class ActionClient extends Entity {
 
     this._node._destroyEntity(this, this._node._actionClients);
   }
+
+  /**
+   * Get the number of wait set entities that make up an action entity.
+   * @return {object} - An object containing the number of various entities.
+   * @property {number} subscriptionsNumber - The number of subscriptions.
+   * @property {number} guardConditionsNumber - The number of guard conditions.
+   * @property {number} timersNumber - The number of timers.
+   * @property {number} clientsNumber - The number of clients.
+   * @property {number} servicesNumber - The number of services.
+   */
+  getNumEntities() {
+    return rclnodejs.getNumEntities(this.handle);
+  }
+
+  /**
+   * Configure introspection.
+   * @param {Clock} clock - Clock to use for service event timestamps
+   * @param {QoS} qos - QoSProfile for the service event publisher
+   * @param {ServiceIntrospectionState} introspectionState - State to set introspection to
+   */
+  configureIntrospection(clock, qos, introspectionState) {
+    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('jazzy')) {
+      console.warn(
+        'Configure action client introspection is not supported by this version of ROS 2'
+      );
+      return;
+    }
+
+    let type = this.typeClass.type();
+    rclnodejs.configureActionClientIntrospection(
+      this.handle,
+      this._node.handle,
+      clock.handle,
+      type.interfaceName,
+      type.pkgName,
+      qos,
+      introspectionState
+    );
+  }
 }
 
 module.exports = ActionClient;

package/lib/action/server.js

@@ -17,6 +17,7 @@
 const rclnodejs = require('bindings')('rclnodejs');
 const ActionInterfaces = require('./interfaces.js');
 const ActionUuid = require('./uuid.js');
+const DistroUtils = require('../distro.js');
 const Entity = require('../entity.js');
 const { CancelResponse, GoalEvent, GoalResponse } = require('./response.js');
 const loader = require('../interface_loader.js');
@@ -454,6 +455,26 @@ class ActionServer extends Entity {
 
     this._node._destroyEntity(this, this._node._actionServers);
   }
+
+  configureIntrospection(clock, qos, introspectionState) {
+    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('jazzy')) {
+      console.warn(
+        'Configure action server introspection is not supported by this version of ROS 2'
+      );
+      return;
+    }
+
+    let type = this.typeClass.type();
+    rclnodejs.configureActionServerIntrospection(
+      this.handle,
+      this._node.handle,
+      clock.handle,
+      type.interfaceName,
+      type.pkgName,
+      qos,
+      introspectionState
+    );
+  }
 }
 
 module.exports = ActionServer;

package/lib/client.js

@@ -141,7 +141,7 @@ class Client extends Entity {
   configureIntrospection(clock, qos, introspectionState) {
     if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
       console.warn(
-        'Service introspection is not supported by this versionof ROS 2'
+        'Service introspection is not supported by this version of ROS 2'
       );
       return;
     }

package/lib/distro.js

@@ -25,6 +25,7 @@ const DistroId = {
   HUMBLE: 2205,
   IRON: 2305,
   JAZZY: 2405,
+  KILTED: 2505,
   ROLLING: 5000,
 };
 
@@ -35,6 +36,7 @@ DistroNameIdMap.set('galactic', DistroId.GALACTIC);
 DistroNameIdMap.set('humble', DistroId.HUMBLE);
 DistroNameIdMap.set('iron', DistroId.IRON);
 DistroNameIdMap.set('jazzy', DistroId.JAZZY);
+DistroNameIdMap.set('kilted', DistroId.KILTED);
 DistroNameIdMap.set('rolling', DistroId.ROLLING);
 
 const DistroUtils = {

package/lib/lifecycle.js

@@ -591,6 +591,15 @@ class LifecycleNode extends Node {
     return this._changeState(SHUTDOWN_TRANSITION_LABEL, callbackReturnValue);
   }
 
+  /**
+   * Check if state machine is initialized.
+   *
+   * @returns {boolean} true if the state machine is initialized; otherwise false.
+   */
+  get isInitialized() {
+    return rclnodejs.isInitialized(this._stateMachineHandle);
+  }
+
   /**
    * The GetState service handler.
    * @param {Object} request - The GetState service request.

package/lib/node.js

@@ -39,6 +39,7 @@ const Service = require('./service.js');
 const Subscription = require('./subscription.js');
 const TimeSource = require('./time_source.js');
 const Timer = require('./timer.js');
+const TypeDescriptionService = require('./type_description_service.js');
 const Entity = require('./entity.js');
 
 // Parameter event publisher constants
@@ -101,6 +102,7 @@ class Node extends rclnodejs.ShadowNode {
     this._parameterDescriptors = new Map();
     this._parameters = new Map();
     this._parameterService = null;
+    this._typeDescriptionService = null;
     this._parameterEventPublisher = null;
     this._setParametersCallbacks = [];
     this._logger = new Logging(rclnodejs.getNodeLoggerName(this.handle));
@@ -147,6 +149,14 @@ class Node extends rclnodejs.ShadowNode {
       this._parameterService = new ParameterService(this);
       this._parameterService.start();
     }
+
+    if (
+      DistroUtils.getDistroId() >= DistroUtils.getDistroId('jazzy') &&
+      options.startTypeDescriptionService
+    ) {
+      this._typeDescriptionService = new TypeDescriptionService(this);
+      this._typeDescriptionService.start();
+    }
   }
 
   execute(handles) {
@@ -1053,7 +1063,15 @@ class Node extends rclnodejs.ShadowNode {
    * @return {Array<{name: string, namespace: string}>} An array of the names and namespaces.
    */
   getNodeNamesAndNamespaces() {
-    return rclnodejs.getNodeNames(this.handle);
+    return rclnodejs.getNodeNames(this.handle, /*getEnclaves=*/ false);
+  }
+
+  /**
+   * Get the list of nodes and their namespaces with enclaves discovered by the provided node.
+   * @return {Array<{name: string, namespace: string, enclave: string}>} An array of the names, namespaces and enclaves.
+   */
+  getNodeNamesAndNamespacesWithEnclaves() {
+    return rclnodejs.getNodeNames(this.handle, /*getEnclaves=*/ true);
   }
 
   /**
@@ -1610,6 +1628,15 @@ class Node extends rclnodejs.ShadowNode {
     }
   }
 
+  /**
+   * Get the fully qualified name of the node.
+   *
+   * @returns {string} - String containing the fully qualified name of the node.
+   */
+  getFullyQualifiedName() {
+    return rclnodejs.getFullyQualifiedName(this.handle);
+  }
+
   // returns on 1st error or result {successful, reason}
   _validateParameters(parameters = [], declareParameterMode = false) {
     for (const parameter of parameters) {

package/lib/node_options.js

@@ -26,16 +26,19 @@ class NodeOptions {
    * @param {boolean} [startParameterServices=true]
    * @param {array} [parameterOverrides=[]]
    * @param {boolean} [automaticallyDeclareParametersFromOverrides=false]
+   * @param {boolean} [startTypeDescriptionService=true]
    */
   constructor(
     startParameterServices = true,
     parameterOverrides = [],
-    automaticallyDeclareParametersFromOverrides = false
+    automaticallyDeclareParametersFromOverrides = false,
+    startTypeDescriptionService = true
   ) {
     this._startParameterServices = startParameterServices;
     this._parameterOverrides = parameterOverrides;
     this._automaticallyDeclareParametersFromOverrides =
       automaticallyDeclareParametersFromOverrides;
+    this._startTypeDescriptionService = startTypeDescriptionService;
   }
 
   /**
@@ -105,6 +108,23 @@ class NodeOptions {
     this._automaticallyDeclareParametersFromOverrides = declareParamsFlag;
   }
 
+  /**
+   * Get the startTypeDescriptionService option, only available for ROS2 > Humble.
+   * Default value = true;
+   * @returns {boolean} - true if the type description service is enabled.
+   */
+  get startTypeDescriptionService() {
+    return this._startTypeDescriptionService;
+  }
+
+  /**
+   * Set startTypeDescriptionService, only available for ROS2 > Humble
+   * @param {boolean} willStartTypeDescriptionService
+   */
+  set startTypeDescriptionService(willStartTypeDescriptionService) {
+    this._startTypeDescriptionService = willStartTypeDescriptionService;
+  }
+
   /**
    * Return an instance configured with default options.
    * @returns {NodeOptions} - An instance with default values.

package/lib/publisher.js

@@ -80,6 +80,25 @@ class Publisher extends Entity {
   get subscriptionCount() {
     return rclnodejs.getSubscriptionCount(this._handle);
   }
+
+  /**
+   * Wait until all published message data is acknowledged or until the specified timeout elapses
+   *
+   * If the timeout is negative then this function will block indefinitely until all published
+   * message data is acknowledged.
+   * If the timeout is 0 then it will check if all published message has been acknowledged without
+   * waiting.
+   * If the timeout is greater than 0 then it will return after that period of time has elapsed or
+   * all published message data is acknowledged.
+   *
+   * Raises an error if failed, such as the middleware not supporting this feature.
+   *
+   * @param {timeout} timeout - The duration to wait for all published message data to be acknowledged in nanoseconds.
+   * @return {boolean} `true` if all published message data is acknowledged before the timeout, otherwise `false`.
+   */
+  waitForAllAcked(timeout) {
+    return rclnodejs.waitForAllAcked(this._handle, timeout);
+  }
 }
 
 module.exports = Publisher;

package/lib/service.js

@@ -125,7 +125,7 @@ class Service extends Entity {
   configureIntrospection(clock, qos, introspectionState) {
     if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
       console.warn(
-        'Service introspection is not supported by this versionof ROS 2'
+        'Service introspection is not supported by this version of ROS 2'
       );
       return;
     }

package/lib/type_description_service.js

@@ -0,0 +1,82 @@
+// Copyright (c) 2025, The Robot Web Tools Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+'use strict';
+
+const loader = require('./interface_loader.js');
+const rclnodejs = require('bindings')('rclnodejs');
+const Service = require('./service.js');
+
+// This class is used to create a TypeDescriptionService which can be used to
+// retrieve information about types used by the node’s publishers, subscribers,
+// services or actions.
+class TypeDescriptionService {
+  constructor(node) {
+    this._node = node;
+    this._serviceName = this._node.name() + '/get_type_description';
+    this._typeDescriptionServiceHandle = rclnodejs.initTypeDescriptionService(
+      this._node.handle
+    );
+    this._typeClass = loader.loadInterface(
+      'type_description_interfaces/srv/GetTypeDescription'
+    );
+    this._typeDescriptionService = null;
+  }
+
+  start() {
+    if (this._typeDescriptionService) {
+      return;
+    }
+
+    this._typeDescriptionService = new Service(
+      this._node.handle,
+      this._typeDescriptionServiceHandle,
+      this._serviceName,
+      this._typeClass,
+      this._node._validateOptions(undefined),
+      (request, response) => {
+        const responseToBeSent = new this._typeClass.Response();
+        const requestReceived = new this._typeClass.Request(request);
+        rclnodejs.handleRequest(
+          this._node.handle,
+          requestReceived.serialize(),
+          responseToBeSent.serialize()
+        );
+        responseToBeSent.deserialize(responseToBeSent.refObject);
+        rclnodejs.sendResponse(
+          this._typeDescriptionServiceHandle,
+          responseToBeSent.serialize(),
+          response._header
+        );
+        return null;
+      }
+    );
+    this._node._services.push(this._typeDescriptionService);
+    this._node.syncHandles();
+  }
+
+  /**
+   * Get the node this
+   * @return {Node} - The supported node.
+   */
+  get node() {
+    return this._node;
+  }
+
+  static toTypeHash(topicTypeHash) {
+    return `RIHS0${topicTypeHash.version}_${topicTypeHash.value.toString('hex')}`;
+  }
+}
+
+module.exports = TypeDescriptionService;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "rclnodejs",
-  "version": "1.0.0",
+  "version": "1.1.0",
   "description": "ROS2.0 JavaScript client with Node.js",
   "main": "index.js",
   "types": "types/index.d.ts",

package/scripts/npmjs-readme.md

@@ -43,9 +43,9 @@ npm i rclnodejs@x.y.z
 
 #### RCLNODEJS - ROS 2 Version Compatibility
 
-|                                     RCLNODEJS Version                                      |                                                             Compatible ROS 2 LTS                                                             |
-| :----------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------------------------------------------: |
-| latest version (currently [v1.0.0](https://github.com/RobotWebTools/rclnodejs/tree/1.0.0)) | [Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy) |
+|                                     RCLNODEJS Version                                      |                                                                                               Compatible ROS 2 LTS                                                                                               |
+| :----------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
+| latest version (currently [v1.1.0](https://github.com/RobotWebTools/rclnodejs/tree/1.1.0)) | [Kilted](https://github.com/RobotWebTools/rclnodejs/tree/kilted)<br>[Jazzy](https://github.com/RobotWebTools/rclnodejs/tree/jazzy)<br>[Humble](https://github.com/RobotWebTools/rclnodejs/tree/humble-hawksbill) |
 
 ## Documentation
 

package/src/addon.cpp

@@ -34,6 +34,9 @@
 #include "rcl_subscription_bindings.h"
 #include "rcl_time_point_bindings.h"
 #include "rcl_timer_bindings.h"
+#if ROS_VERSION > 2205  // ROS2 > Humble
+#include "rcl_type_description_service_bindings.h"
+#endif
 #include "rcl_utilities.h"
 #include "shadow_node.h"
 
@@ -79,6 +82,9 @@ Napi::Object InitModule(Napi::Env env, Napi::Object exports) {
   rclnodejs::InitSubscriptionBindings(env, exports);
   rclnodejs::InitTimePointBindings(env, exports);
   rclnodejs::InitTimerBindings(env, exports);
+#if ROS_VERSION > 2205  // ROS2 > Humble
+  rclnodejs::InitTypeDescriptionServiceBindings(env, exports);
+#endif
   rclnodejs::InitLifecycleBindings(env, exports);
   rclnodejs::ShadowNode::Init(env, exports);
   rclnodejs::RclHandle::Init(env, exports);

package/src/rcl_action_client_bindings.cpp

@@ -16,6 +16,7 @@
 
 #include <rcl/error_handling.h>
 #include <rcl/rcl.h>
+#include <rcl_action/action_client.h>
 #include <rcl_action/rcl_action.h>
 
 #include <string>
@@ -126,28 +127,6 @@ Napi::Value ActionSendGoalRequest(const Napi::CallbackInfo& info) {
   return Napi::Number::New(env, static_cast<int32_t>(sequence_number));
 }
 
-Napi::Value ActionTakeCancelRequest(const Napi::CallbackInfo& info) {
-  Napi::Env env = info.Env();
-
-  RclHandle* action_server_handle =
-      RclHandle::Unwrap(info[0].As<Napi::Object>());
-  rcl_action_server_t* action_server =
-      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
-  rmw_request_id_t* header =
-      reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
-
-  void* taken_request = info[1].As<Napi::Buffer<char>>().Data();
-  rcl_ret_t ret =
-      rcl_action_take_cancel_request(action_server, header, taken_request);
-  if (ret != RCL_RET_ACTION_SERVER_TAKE_FAILED) {
-    auto js_obj = RclHandle::NewInstance(env, header, nullptr,
-                                         [](void* ptr) { free(ptr); });
-    return js_obj;
-  }
-
-  return env.Undefined();
-}
-
 Napi::Value ActionSendResultRequest(const Napi::CallbackInfo& info) {
   Napi::Env env = info.Env();
 
@@ -211,6 +190,97 @@ Napi::Value ActionTakeStatus(const Napi::CallbackInfo& info) {
   return env.Undefined();
 }
 
+Napi::Value GetNumEntities(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  RclHandle* action_client_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_action_client_t* action_client =
+      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
+
+  size_t num_subscriptions = 0u;
+  size_t num_guard_conditions = 0u;
+  size_t num_timers = 0u;
+  size_t num_clients = 0u;
+  size_t num_services = 0u;
+
+  rcl_ret_t ret;
+  ret = rcl_action_client_wait_set_get_num_entities(
+      action_client, &num_subscriptions, &num_guard_conditions, &num_timers,
+      &num_clients, &num_services);
+  if (RCL_RET_OK != ret) {
+    rcl_reset_error();
+    std::string error_text{
+        "Failed to get number of entities for 'rcl_action_client_t'"};
+    Napi::Error::New(env, error_text).ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
+  Napi::Object entities = Napi::Object::New(env);
+  entities.Set("subscriptionsNumber",
+               Napi::Number::New(env, num_subscriptions));
+  entities.Set("guardConditionsNumber",
+               Napi::Number::New(env, num_guard_conditions));
+  entities.Set("timersNumber", Napi::Number::New(env, num_timers));
+  entities.Set("clientsNumber", Napi::Number::New(env, num_clients));
+  entities.Set("servicesNumber", Napi::Number::New(env, num_services));
+  return entities;
+}
+
+Napi::Value ActionSendCancelRequest(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* action_client_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_action_client_t* action_client =
+      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
+
+  int64_t sequence_number;
+  THROW_ERROR_IF_NOT_EQUAL(
+      rcl_action_send_cancel_request(action_client, buffer, &sequence_number),
+      RCL_RET_OK, rcl_get_error_string().str);
+
+  return Napi::Number::New(env, static_cast<int32_t>(sequence_number));
+}
+
+#if ROS_VERSION >= 2505  // ROS2 >= Kilted
+Napi::Value ConfigureActionClientIntrospection(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  RclHandle* action_client_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_action_client_t* action_client =
+      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
+  RclHandle* node_handle = RclHandle::Unwrap(info[1].As<Napi::Object>());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+  rcl_clock_t* clock = reinterpret_cast<rcl_clock_t*>(
+      RclHandle::Unwrap(info[2].As<Napi::Object>())->ptr());
+
+  std::string action_name = info[3].As<Napi::String>().Utf8Value();
+  std::string package_name = info[4].As<Napi::String>().Utf8Value();
+  const rosidl_action_type_support_t* ts =
+      GetActionTypeSupport(package_name, action_name);
+  rcl_ret_t ret = RCL_RET_ERROR;
+  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>(
+            info[6].As<Napi::Number>().Uint32Value());
+    ret = rcl_action_client_configure_action_introspection(
+        action_client, node, clock, ts, publisher_ops, state);
+    if (ret == RCL_RET_OK) {
+      return env.Undefined();
+    }
+  }
+
+  Napi::Error::New(env, "failed to configure action client introspection")
+      .ThrowAsJavaScriptException();
+  return env.Undefined();
+}
+#endif  // ROS_VERSION >= 2505
+
 Napi::Object InitActionClientBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("actionCreateClient",
               Napi::Function::New(env, ActionCreateClient));
@@ -218,13 +288,18 @@ Napi::Object InitActionClientBindings(Napi::Env env, Napi::Object exports) {
               Napi::Function::New(env, ActionServerIsAvailable));
   exports.Set("actionSendGoalRequest",
               Napi::Function::New(env, ActionSendGoalRequest));
-  exports.Set("actionTakeCancelRequest",
-              Napi::Function::New(env, ActionTakeCancelRequest));
   exports.Set("actionSendResultRequest",
               Napi::Function::New(env, ActionSendResultRequest));
   exports.Set("actionTakeFeedback",
               Napi::Function::New(env, ActionTakeFeedback));
   exports.Set("actionTakeStatus", Napi::Function::New(env, ActionTakeStatus));
+  exports.Set("getNumEntities", Napi::Function::New(env, GetNumEntities));
+  exports.Set("actionSendCancelRequest",
+              Napi::Function::New(env, ActionSendCancelRequest));
+#if ROS_VERSION >= 2505  // ROS2 >= Kilted
+  exports.Set("configureActionClientIntrospection",
+              Napi::Function::New(env, ConfigureActionClientIntrospection));
+#endif  // ROS_VERSION >= 2505
   return exports;
 }
 

package/src/rcl_action_server_bindings.cpp

@@ -16,6 +16,7 @@
 
 #include <rcl/error_handling.h>
 #include <rcl/rcl.h>
+#include <rcl_action/action_server.h>
 #include <rcl_action/rcl_action.h>
 
 #include <string>
@@ -96,23 +97,6 @@ Napi::Value ActionCreateServer(const Napi::CallbackInfo& info) {
   }
 }
 
-Napi::Value ActionSendCancelRequest(const Napi::CallbackInfo& info) {
-  Napi::Env env = info.Env();
-
-  RclHandle* action_client_handle =
-      RclHandle::Unwrap(info[0].As<Napi::Object>());
-  rcl_action_client_t* action_client =
-      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
-  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
-
-  int64_t sequence_number;
-  THROW_ERROR_IF_NOT_EQUAL(
-      rcl_action_send_cancel_request(action_client, buffer, &sequence_number),
-      RCL_RET_OK, rcl_get_error_string().str);
-
-  return Napi::Number::New(env, static_cast<int32_t>(sequence_number));
-}
-
 Napi::Value ActionTakeResultRequest(const Napi::CallbackInfo& info) {
   Napi::Env env = info.Env();
 
@@ -432,11 +416,71 @@ Napi::Value ActionServerGoalExists(const Napi::CallbackInfo& info) {
   return Napi::Boolean::New(env, exists);
 }
 
+Napi::Value ActionTakeCancelRequest(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* action_server_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_action_server_t* action_server =
+      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
+  rmw_request_id_t* header =
+      reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
+
+  void* taken_request = info[1].As<Napi::Buffer<char>>().Data();
+  rcl_ret_t ret =
+      rcl_action_take_cancel_request(action_server, header, taken_request);
+  if (ret != RCL_RET_ACTION_SERVER_TAKE_FAILED) {
+    auto js_obj = RclHandle::NewInstance(env, header, nullptr,
+                                         [](void* ptr) { free(ptr); });
+    return js_obj;
+  }
+
+  return env.Undefined();
+}
+
+#if ROS_VERSION >= 2505  // ROS2 >= Kilted
+Napi::Value ConfigureActionServerIntrospection(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  RclHandle* action_server_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_action_server_t* action_server =
+      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
+  RclHandle* node_handle = RclHandle::Unwrap(info[1].As<Napi::Object>());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+  rcl_clock_t* clock = reinterpret_cast<rcl_clock_t*>(
+      RclHandle::Unwrap(info[2].As<Napi::Object>())->ptr());
+
+  std::string action_name = info[3].As<Napi::String>().Utf8Value();
+  std::string package_name = info[4].As<Napi::String>().Utf8Value();
+  const rosidl_action_type_support_t* ts =
+      GetActionTypeSupport(package_name, action_name);
+
+  rcl_ret_t ret = RCL_RET_ERROR;
+  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>(
+            info[6].As<Napi::Number>().Uint32Value());
+    ret = rcl_action_server_configure_action_introspection(
+        action_server, node, clock, ts, publisher_ops, state);
+    if (ret == RCL_RET_OK) {
+      return env.Undefined();
+    }
+  }
+
+  Napi::Error::New(env, "failed to configure action server introspection")
+      .ThrowAsJavaScriptException();
+  return env.Undefined();
+}
+#endif  // ROS_VERSION >= 2505
+
 Napi::Object InitActionServerBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("actionCreateServer",
               Napi::Function::New(env, ActionCreateServer));
-  exports.Set("actionSendCancelRequest",
-              Napi::Function::New(env, ActionSendCancelRequest));
   exports.Set("actionTakeResultRequest",
               Napi::Function::New(env, ActionTakeResultRequest));
   exports.Set("actionTakeGoalRequest",
@@ -464,6 +508,12 @@ Napi::Object InitActionServerBindings(Napi::Env env, Napi::Object exports) {
               Napi::Function::New(env, ActionProcessCancelRequest));
   exports.Set("actionServerGoalExists",
               Napi::Function::New(env, ActionServerGoalExists));
+  exports.Set("actionTakeCancelRequest",
+              Napi::Function::New(env, ActionTakeCancelRequest));
+#if ROS_VERSION >= 2505  // ROS2 >= Kilted
+  exports.Set("configureActionServerIntrospection",
+              Napi::Function::New(env, ConfigureActionServerIntrospection));
+#endif  // ROS_VERSION >= 2505
   return exports;
 }
 

package/src/rcl_lifecycle_bindings.cpp

@@ -360,6 +360,18 @@ Napi::Value GetLifecycleShutdownTransitionLabel(
   return Napi::String::New(env, rcl_lifecycle_shutdown_label);
 }
 
+Napi::Value IsInitialized(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  RclHandle* state_machine_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_lifecycle_state_machine_t* state_machine =
+      reinterpret_cast<rcl_lifecycle_state_machine_t*>(
+          state_machine_handle->ptr());
+  const bool is_initialized =
+      RCL_RET_OK == rcl_lifecycle_state_machine_is_initialized(state_machine);
+  return Napi::Boolean::New(env, is_initialized);
+}
+
 Napi::Object InitLifecycleBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("createLifecycleStateMachine",
               Napi::Function::New(env, CreateLifecycleStateMachine));
@@ -383,6 +395,7 @@ Napi::Object InitLifecycleBindings(Napi::Env env, Napi::Object exports) {
               Napi::Function::New(env, GetLifecycleTransitionIdToLabel));
   exports.Set("getLifecycleShutdownTransitionLabel",
               Napi::Function::New(env, GetLifecycleShutdownTransitionLabel));
+  exports.Set("isInitialized", Napi::Function::New(env, IsInitialized));
   return exports;
 }
 

package/src/rcl_node_bindings.cpp

@@ -385,40 +385,67 @@ Napi::Value GetNodeNames(const Napi::CallbackInfo& info) {
 
   RclHandle* node_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
   rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+  bool get_enclaves = info[1].As<Napi::Boolean>().Value();
   rcutils_string_array_t node_names =
       rcutils_get_zero_initialized_string_array();
   rcutils_string_array_t node_namespaces =
       rcutils_get_zero_initialized_string_array();
+  rcutils_string_array_t enclaves = rcutils_get_zero_initialized_string_array();
   rcl_allocator_t allocator = rcl_get_default_allocator();
 
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK,
-      rcl_get_node_names(node, allocator, &node_names, &node_namespaces),
-      "Failed to get_node_names.");
+  if (get_enclaves) {
+    THROW_ERROR_IF_NOT_EQUAL(
+        RCL_RET_OK,
+        rcl_get_node_names_with_enclaves(node, allocator, &node_names,
+                                         &node_namespaces, &enclaves),
+        "Failed to get_node_names.");
+  } else {
+    THROW_ERROR_IF_NOT_EQUAL(
+        RCL_RET_OK,
+        rcl_get_node_names(node, allocator, &node_names, &node_namespaces),
+        "Failed to get_node_names.");
+  }
 
   Napi::Array result_list = Napi::Array::New(env, node_names.size);
 
   for (size_t i = 0; i < node_names.size; ++i) {
     Napi::Object item = Napi::Object::New(env);
-
     item.Set("name", Napi::String::New(env, node_names.data[i]));
     item.Set("namespace", Napi::String::New(env, node_namespaces.data[i]));
-
+    if (get_enclaves) {
+      item.Set("enclave", Napi::String::New(env, enclaves.data[i]));
+    }
     result_list.Set(i, item);
   }
 
   rcutils_ret_t fini_names_ret = rcutils_string_array_fini(&node_names);
   rcutils_ret_t fini_namespaces_ret =
       rcutils_string_array_fini(&node_namespaces);
-
+  rcutils_ret_t fini_enclaves_ret = rcutils_string_array_fini(&enclaves);
   THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, fini_names_ret,
                            "Failed to destroy node_names");
   THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, fini_namespaces_ret,
                            "Failed to destroy node_namespaces");
-
+  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, fini_enclaves_ret,
+                           "Failed to fini enclaves string array");
   return result_list;
 }
 
+Napi::Value GetFullyQualifiedName(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* node_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+  const char* fully_qualified_node_name =
+      rcl_node_get_fully_qualified_name(node);
+  if (!fully_qualified_node_name) {
+    Napi::Error::New(env, "Fully qualified name not set")
+        .ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
+  return Napi::String::New(env, fully_qualified_node_name);
+}
+
 Napi::Object InitNodeBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("getParameterOverrides",
               Napi::Function::New(env, GetParameterOverrides));
@@ -439,6 +466,8 @@ Napi::Object InitNodeBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("countServices", Napi::Function::New(env, CountServices));
 #endif
   exports.Set("getNodeNames", Napi::Function::New(env, GetNodeNames));
+  exports.Set("getFullyQualifiedName",
+              Napi::Function::New(env, GetFullyQualifiedName));
   return exports;
 }
 

package/src/rcl_publisher_bindings.cpp

@@ -128,6 +128,24 @@ Napi::Value GetSubscriptionCount(const Napi::CallbackInfo& info) {
   return Napi::Number::New(env, count);
 }
 
+Napi::Value WaitForAllAcked(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  rcl_publisher_t* publisher = reinterpret_cast<rcl_publisher_t*>(
+      RclHandle::Unwrap(info[0].As<Napi::Object>())->ptr());
+  bool lossless;
+  int64_t nanoseconds = info[1].As<Napi::BigInt>().Int64Value(&lossless);
+
+  rcl_ret_t ret = rcl_publisher_wait_for_all_acked(publisher, nanoseconds);
+  if (RCL_RET_OK == ret) {
+    return Napi::Boolean::New(env, true);
+  } else if (RCL_RET_TIMEOUT == ret) {
+    return Napi::Boolean::New(env, false);
+  }
+  Napi::Error::New(env, "Failed to wait for all acknowledgements")
+      .ThrowAsJavaScriptException();
+  return env.Undefined();
+}
+
 Napi::Object InitPublisherBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("createPublisher", Napi::Function::New(env, CreatePublisher));
   exports.Set("publish", Napi::Function::New(env, Publish));
@@ -135,6 +153,7 @@ Napi::Object InitPublisherBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("publishRawMessage", Napi::Function::New(env, PublishRawMessage));
   exports.Set("getSubscriptionCount",
               Napi::Function::New(env, GetSubscriptionCount));
+  exports.Set("waitForAllAcked", Napi::Function::New(env, WaitForAllAcked));
   return exports;
 }
 

package/src/rcl_type_description_service_bindings.cpp

@@ -0,0 +1,79 @@
+// Copyright (c) 2025, The Robot Web Tools Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rcl_type_description_service_bindings.h"
+
+#include <napi.h>
+#include <rcl/rcl.h>
+#include <rmw/types.h>
+
+#include "rcl_handle.h"
+
+namespace rclnodejs {
+
+Napi::Value InitTypeDescriptionService(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  RclHandle* node_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+  rcl_service_t* service =
+      reinterpret_cast<rcl_service_t*>(malloc(sizeof(rcl_service_t)));
+  *service = rcl_get_zero_initialized_service();
+  rcl_ret_t ret = rcl_node_type_description_service_init(service, node);
+  if (RCL_RET_OK != ret) {
+    Napi::Error::New(env, "Failed to initialize type description service")
+        .ThrowAsJavaScriptException();
+  }
+
+  auto service_handle =
+      RclHandle::NewInstance(env, service, node_handle, [node, env](void* ptr) {
+        rcl_service_t* service = reinterpret_cast<rcl_service_t*>(ptr);
+        rcl_ret_t ret = rcl_service_fini(service, node);
+        if (RCL_RET_OK != ret) {
+          Napi::Error::New(env, "Failed to destroy type description service")
+              .ThrowAsJavaScriptException();
+        }
+        free(ptr);
+      });
+  return service_handle;
+}
+
+Napi::Value HandleRequest(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(
+      RclHandle::Unwrap(info[0].As<Napi::Object>())->ptr());
+  void* request = info[1].As<Napi::Buffer<char>>().Data();
+  void* taken_response = info[2].As<Napi::Buffer<char>>().Data();
+
+  rmw_request_id_t header;
+  rcl_node_type_description_service_handle_request(
+      node, &header,
+      static_cast<
+          type_description_interfaces__srv__GetTypeDescription_Request*>(
+          request),
+      static_cast<
+          type_description_interfaces__srv__GetTypeDescription_Response*>(
+          taken_response));
+  return env.Undefined();
+}
+
+Napi::Object InitTypeDescriptionServiceBindings(Napi::Env env,
+                                                Napi::Object exports) {
+  exports.Set("handleRequest", Napi::Function::New(env, HandleRequest));
+  exports.Set("initTypeDescriptionService",
+              Napi::Function::New(env, InitTypeDescriptionService));
+
+  return exports;
+}
+
+}  // namespace rclnodejs

package/src/rcl_type_description_service_bindings.h

@@ -0,0 +1,27 @@
+// Copyright (c) 2025, The Robot Web Tools Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef SRC_RCL_TYPE_DESCRIPTION_SERVICE_BINDINGS_H_
+#define SRC_RCL_TYPE_DESCRIPTION_SERVICE_BINDINGS_H_
+
+#include <napi.h>
+
+namespace rclnodejs {
+
+Napi::Object InitTypeDescriptionServiceBindings(Napi::Env env,
+                                                Napi::Object exports);
+
+}
+
+#endif  // SRC_RCL_TYPE_DESCRIPTION_SERVICE_BINDINGS_H_

package/types/action_client.d.ts

@@ -173,5 +173,23 @@ declare module 'rclnodejs' {
      * Destroy the underlying action client handle.
      */
     destroy(): void;
+
+    /**
+     * Get the number of wait set entities that make up an action entity.
+     * @return - The number of subscriptions, guard_conditions, timers, and clients and services.
+     */
+    getNumEntities(): object;
+
+    /**
+     * 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;
   }
 }

package/types/action_server.d.ts

@@ -181,5 +181,17 @@ declare module 'rclnodejs' {
      * Destroy the action server and all goals.
      */
     destroy(): void;
+
+    /**
+     * 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;
   }
 }

package/types/lifecycle.d.ts

@@ -326,6 +326,13 @@ declare module 'rclnodejs' {
         topic: string,
         options?: Options
       ): LifecyclePublisher<T>;
+
+      /**
+       * Check if state machine is initialized.
+       *
+       * @returns {boolean} true if the state machine is initialized; otherwise false.
+       */
+      get isInitialized(): boolean;
     }
   } // lifecycle namespace
 } // rclnodejs namespace

package/types/node.d.ts

@@ -142,6 +142,24 @@ declare module 'rclnodejs' {
     namespace: string;
   };
 
+  /**
+   * Result of Node.getNodeNames() query
+   *
+   * @example
+   * ```
+   * [
+   *   { name: 'gazebo',                namespace: '/', enclave: '/'},
+   *   { name: 'robot_state_publisher', namespace: '/', enclave: '/' },
+   *   { name: 'cam2image',             namespace: '/demo' , enclave: '/'}
+   * ]
+   * ```
+   */
+  type NodeNamesQueryResultWithEnclaves = {
+    name: string;
+    namespace: string;
+    enclave: string;
+  };
+
   /**
    * Node is the primary entrypoint in a ROS system for communication.
    * It can be used to create ROS entities such as publishers, subscribers,
@@ -769,6 +787,13 @@ declare module 'rclnodejs' {
      */
     getNodeNamesAndNamespaces(): Array<NodeNamesQueryResult>;
 
+    /**
+     * Get the list of nodes and their namespaces with enclaves discovered by the provided node.
+     *
+     * @returns An array of the names, namespaces and enclaves.
+     */
+    getNodeNamesAndNamespacesWithEnclaves(): Array<NodeNamesQueryResultWithEnclaves>;
+
     /**
      * Return the number of publishers on a given topic.
      * @param topic - The name of the topic.
@@ -796,5 +821,12 @@ declare module 'rclnodejs' {
      * @returns Number of services.
      */
     countServices(serviceName: string): number;
+
+    /**
+     * Get the fully qualified name of the node.
+     *
+     * @returns String containing the fully qualified name of the node.
+     */
+    getFullyQualifiedName(): string;
   }
 }

package/types/publisher.d.ts

@@ -20,5 +20,22 @@ declare module 'rclnodejs' {
      * @returns The number of subscriptions
      */
     subscriptionCount(): number;
+
+    /**
+     * Wait until all published message data is acknowledged or until the specified timeout elapses
+     *
+     * If the timeout is negative then this function will block indefinitely until all published
+     * message data is acknowledged.
+     * If the timeout is 0 then it will check if all published message has been acknowledged without
+     * waiting.
+     * If the timeout is greater than 0 then it will return after that period of time has elapsed or
+     * all published message data is acknowledged.
+     *
+     * Raises an error if failed, such as the middleware not supporting this feature.
+     *
+     * @param {timeout} timeout - The duration to wait for all published message data to be acknowledged in nanoseconds.
+     * @return {boolean} `true` if all published message data is acknowledged before the timeout, otherwise `false`.
+     */
+    waitForAllAcked(timeout: bigint): boolean;
   }
 }