rclnodejs 1.1.0 → 1.3.0

package/types/node.d.ts

@@ -303,12 +303,14 @@ declare module 'rclnodejs' {
      * @param typeClass - Type of message that will be published.
      * @param topic - Name of the topic the publisher will publish to.
      * @param options - Configuration options, see DEFAULT_OPTIONS
+     * @param eventCallbacks - Optional The event callbacks for the publisher.
      * @returns New instance of Publisher.
      */
     createPublisher<T extends TypeClass<MessageTypeClassName>>(
       typeClass: T,
       topic: string,
-      options?: Options
+      options?: Options,
+      eventCallbacks?: (event: object) => void
     ): Publisher<T>;
 
     /**
@@ -333,6 +335,7 @@ declare module 'rclnodejs' {
      * @param topic - Name of the topic the subcription will subscribe to.
      * @param options - Configuration options, see DEFAULT_OPTIONS
      * @param callback - Called when a new message is received. The serialized message will be null-terminated.
+     * @param eventCallbacks - Optional The event callbacks for the subscription.
      * @returns New instance of Subscription.
      * @throws Error - May throw an RMW error if options.content-filter is malformed.
      * @see {@link https://www.omg.org/spec/DDS/1.4/PDF|Content-filter details at DDS 1.4 specification, Annex B}
@@ -341,7 +344,8 @@ declare module 'rclnodejs' {
       typeClass: T,
       topic: string,
       options: Options,
-      callback: SubscriptionCallback<T> | SubscriptionWithRawMessageCallback
+      callback: SubscriptionCallback<T> | SubscriptionWithRawMessageCallback,
+      eventCallbacks?: (event: object) => void
     ): Subscription;
 
     /**
@@ -746,21 +750,45 @@ declare module 'rclnodejs' {
     getServiceNamesAndTypes(): Array<NamesAndTypesQueryResult>;
 
     /**
-     * Get an array of publishers on a given topic.
+     * Return a list 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.
+     * The returned parameter is a list of TopicEndpointInfo objects, where each will contain
+     * the node name, node namespace, topic type, topic endpoint's GID, and its QoS profile.
+     *
+     * When the `no_mangle` parameter is `true`, the provided `topic` should be a valid
+     * topic name for the middleware (useful when combining ROS with native middleware (e.g. DDS)
+     * apps).  When the `no_mangle` parameter is `false`, the provided `topic` should
+     * follow ROS topic name conventions.
+     *
+     * `topic` may be a relative, private, or fully qualified topic name.
+     *  A relative or private topic will be expanded using this node's namespace and name.
+     *  The queried `topic` is not remapped.
+     *
+     * @param topic - The topic on which to find the publishers.
+     * @param [noDemangle=false] - If `true`, `topic` needs to be a valid middleware topic
+     *                       name, otherwise it should be a valid ROS topic name. Defaults to `false`.
      * @returns An array of publishers.
      */
     getPublishersInfoByTopic(topic: string, noDemangle: boolean): Array<object>;
 
     /**
-     * Get an array of subscriptions on a given topic.
+     * Return a list 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.
+     * The returned parameter is a list of TopicEndpointInfo objects, where each will contain
+     * the node name, node namespace, topic type, topic endpoint's GID, and its QoS profile.
+     *
+     * When the `no_mangle` parameter is `true`, the provided `topic` should be a valid
+     * topic name for the middleware (useful when combining ROS with native middleware (e.g. DDS)
+     * apps).  When the `no_mangle` parameter is `false`, the provided `topic` should
+     * follow ROS topic name conventions.
+     *
+     * `topic` may be a relative, private, or fully qualified topic name.
+     *  A relative or private topic will be expanded using this node's namespace and name.
+     *  The queried `topic` is not remapped.
+     *
+     * @param topic - The topic on which to find the subscriptions..
+     * @param [noDemangle=false] - If `true`, `topic` needs to be a valid middleware topic
+                           name, otherwise it should be a valid ROS topic name. Defaults to `false`.
      * @returns An array of subscriptions.
      */
     getSubscriptionsInfoByTopic(
@@ -828,5 +856,27 @@ declare module 'rclnodejs' {
      * @returns String containing the fully qualified name of the node.
      */
     getFullyQualifiedName(): string;
+
+    /**
+     * Get the RMW implementation identifier
+     * @returns - The RMW implementation identifier.
+     */
+    getRMWImplementationIdentifier(): string;
+
+    /**
+     * Return a topic name expanded and remapped.
+     * @param topicName - Topic name to be expanded and remapped.
+     * @param onlyExpand - If `true`, remapping rules won't be applied, default is false.
+     * @returns A fully qualified topic name.
+     */
+    resolveTopicName(topicName: string, onlyExpand?: boolean): string;
+
+    /**
+     * Return a service name expanded and remapped.
+     * @param service - Service name to be expanded and remapped.
+     * @param onlyExpand - If `true`, remapping rules won't be applied, default is false.
+     * @returns A fully qualified service name.
+     */
+    resolveServiceName(service: string, onlyExpand?: boolean): string;
   }
 }