rclnodejs 1.2.0 → 1.3.0

package/types/index.d.ts

@@ -1,6 +1,8 @@
 /// <reference path="./base.d.ts" />
 
 declare module 'rclnodejs' {
+  type Class = new (...args: any[]) => any;
+
   /**
    * Create a node.
    *
@@ -11,6 +13,9 @@ declare module 'rclnodejs' {
    * @param namespace - The namespace used in ROS, default is an empty string.
    * @param context - The context, default is Context.defaultContext().
    * @param options - The node options, default is NodeOptions.defaultOptions.
+   * @param args - The arguments to be passed to the node, default is an empty array.
+   * @param useGlobalArguments - If true, the node will use global arguments, default is true.
+   *                            If false, the node will not use global arguments.
    * @returns The new Node instance.
    * @deprecated since 0.18.0, Use new Node constructor.
    */
@@ -18,7 +23,9 @@ declare module 'rclnodejs' {
     nodeName: string,
     namespace?: string,
     context?: Context,
-    options?: NodeOptions
+    options?: NodeOptions,
+    args?: string[],
+    useGlobalArguments?: boolean
   ): Node;
 
   /**
@@ -182,4 +189,22 @@ declare module 'rclnodejs' {
    * @returns An array of the names and types.
    */
   function getActionNamesAndTypes(node: Node): NamesAndTypesQueryResult;
+
+  /**
+   * Serialize a message to a Buffer.
+   *
+   * @param message - The message to be serialized.
+   * @param typeClass - The type class of the message.
+   * @returns A Buffer containing the serialized message.
+   */
+  function serializeMessage(message: object, typeClass: Class): Buffer;
+
+  /**
+   * Deserialize a message from a Buffer.
+   *
+   * @param buffer - The Buffer containing the serialized message.
+   * @param typeClass - The type class of the message.
+   * @returns An Object representing the deserialized message.
+   */
+  function deserializeMessage(buffer: Buffer, typeClass: Class): object;
 }

package/types/lifecycle.d.ts

@@ -333,6 +333,13 @@ declare module 'rclnodejs' {
        * @returns {boolean} true if the state machine is initialized; otherwise false.
        */
       get isInitialized(): boolean;
+
+      /**
+       * Log the state machine data.
+       *
+       * @returns {undefined} void.
+       */
+      print(): void;
     }
   } // lifecycle namespace
 } // rclnodejs namespace

package/types/node.d.ts

@@ -750,21 +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(
@@ -838,5 +862,21 @@ declare module 'rclnodejs' {
      * @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;
   }
 }