Add missing methods for client (#1114)

This PR adds the missing client methods by implementing and exposing a getOptions function for services. The changes include updating TypeScript tests to verify the new method, adding a new service options test in JavaScript, implementing the ConvertToQoS function in C++ along with the GetOptions binding, and adding a getOptions method in the Service JavaScript class.

Fix: #1115

Author: minggangw

lib/service.js

@@ -142,6 +142,14 @@ class Service extends Entity {
       true
     );
   }
+
+  /**
+   * Get the options of this service.
+   * @return {object} The options of this service.
+   */
+  getOptions() {
+    return rclnodejs.getOptions(this._handle);
+  }
 }
 
 module.exports = Service;

src/rcl_service_bindings.cpp

@@ -51,6 +51,7 @@ Napi::Value CreateService(const Napi::CallbackInfo& info) {
     if (qos_profile) {
       service_ops.qos = *qos_profile;
     }
+
     THROW_ERROR_IF_NOT_EQUAL(
         rcl_service_init(service, node, ts, service_name.c_str(), &service_ops),
         RCL_RET_OK, rcl_get_error_string().str);
@@ -173,6 +174,18 @@ Napi::Value ConfigureServiceIntrospection(const Napi::CallbackInfo& info) {
 }
 #endif
 
+Napi::Value GetOptions(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  rcl_service_t* service = reinterpret_cast<rcl_service_t*>(
+      RclHandle::Unwrap(info[0].As<Napi::Object>())->ptr());
+
+  const rcl_service_options_t* options = rcl_service_get_options(service);
+  auto qos_profile = ConvertToQoS(env, &options->qos);
+
+  return qos_profile;
+}
+
 Napi::Object InitServiceBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("createService", Napi::Function::New(env, CreateService));
   exports.Set("rclTakeRequest", Napi::Function::New(env, RclTakeRequest));
@@ -183,6 +196,7 @@ Napi::Object InitServiceBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("configureServiceIntrospection",
               Napi::Function::New(env, ConfigureServiceIntrospection));
 #endif
+  exports.Set("getOptions", Napi::Function::New(env, GetOptions));
   return exports;
 }
 

src/rcl_utilities.cpp

@@ -88,24 +88,6 @@ Napi::Value ConvertToHashObject(Napi::Env env,
   return obj;
 }
 
-Napi::Value ConvertToQoS(Napi::Env env, const rmw_qos_profile_t* qos_profile) {
-  Napi::Object qos = Napi::Object::New(env);
-  qos.Set("depth", Napi::Number::New(env, qos_profile->depth));
-  qos.Set("history", Napi::Number::New(env, qos_profile->history));
-  qos.Set("reliability", Napi::Number::New(env, qos_profile->reliability));
-  qos.Set("durability", Napi::Number::New(env, qos_profile->durability));
-  qos.Set("lifespan", ConvertRMWTimeToDuration(env, &qos_profile->lifespan));
-  qos.Set("deadline", ConvertRMWTimeToDuration(env, &qos_profile->deadline));
-  qos.Set("liveliness", Napi::Number::New(env, qos_profile->liveliness));
-  qos.Set(
-      "liveliness_lease_duration",
-      ConvertRMWTimeToDuration(env, &qos_profile->liveliness_lease_duration));
-  qos.Set(
-      "avoid_ros_namespace_conventions",
-      Napi::Boolean::New(env, qos_profile->avoid_ros_namespace_conventions));
-  return qos;
-}
-
 Napi::Value ConvertToJSTopicEndpoint(
     Napi::Env env, const rmw_topic_endpoint_info_t* topic_endpoint_info) {
   Napi::Array endpoint_gid = Napi::Array::New(env, RMW_GID_STORAGE_SIZE);
@@ -128,7 +110,7 @@ Napi::Value ConvertToJSTopicEndpoint(
                    env, static_cast<int>(topic_endpoint_info->endpoint_type)));
   endpoint.Set("endpoint_gid", endpoint_gid);
   endpoint.Set("qos_profile",
-               ConvertToQoS(env, &topic_endpoint_info->qos_profile));
+               rclnodejs::ConvertToQoS(env, &topic_endpoint_info->qos_profile));
   return endpoint;
 }
 
@@ -246,6 +228,24 @@ void ExtractNamesAndTypes(rcl_names_and_types_t names_and_types,
   }
 }
 
+Napi::Value ConvertToQoS(Napi::Env env, const rmw_qos_profile_t* qos_profile) {
+  Napi::Object qos = Napi::Object::New(env);
+  qos.Set("depth", Napi::Number::New(env, qos_profile->depth));
+  qos.Set("history", Napi::Number::New(env, qos_profile->history));
+  qos.Set("reliability", Napi::Number::New(env, qos_profile->reliability));
+  qos.Set("durability", Napi::Number::New(env, qos_profile->durability));
+  qos.Set("lifespan", ConvertRMWTimeToDuration(env, &qos_profile->lifespan));
+  qos.Set("deadline", ConvertRMWTimeToDuration(env, &qos_profile->deadline));
+  qos.Set("liveliness", Napi::Number::New(env, qos_profile->liveliness));
+  qos.Set(
+      "liveliness_lease_duration",
+      ConvertRMWTimeToDuration(env, &qos_profile->liveliness_lease_duration));
+  qos.Set(
+      "avoid_ros_namespace_conventions",
+      Napi::Boolean::New(env, qos_profile->avoid_ros_namespace_conventions));
+  return qos;
+}
+
 Napi::Array ConvertToJSTopicEndpointInfoList(
     Napi::Env env, const rmw_topic_endpoint_info_array_t* info_array) {
   Napi::Array list = Napi::Array::New(env, info_array->size);

src/rcl_utilities.h

@@ -51,6 +51,8 @@ void ExtractNamesAndTypes(rcl_names_and_types_t names_and_types,
 Napi::Array ConvertToJSTopicEndpointInfoList(
     Napi::Env env, const rmw_topic_endpoint_info_array_t* info_array);
 
+Napi::Value ConvertToQoS(Napi::Env env, const rmw_qos_profile_t* qos_profile);
+
 }  // namespace rclnodejs
 
 #endif  // SRC_RCL_UTILITIES_H_

test/test-service-with-async-callback.js renamed to test/test-service.js

@@ -16,8 +16,9 @@
 
 const assert = require('assert');
 const rclnodejs = require('../index.js');
+const { QoS } = rclnodejs;
 
-describe('Test creating a service with an async callback', function () {
+describe('Test service class', function () {
   this.timeout(60 * 1000);
 
   before(function () {
@@ -67,4 +68,29 @@ describe('Test creating a service with an async callback', function () {
     rclnodejs.spin(serviceNode);
     rclnodejs.spin(clientNode);
   });
+
+  it('Get service options', function () {
+    const node = rclnodejs.createNode('test_node');
+    const service = node.createService(
+      'example_interfaces/srv/AddTwoInts',
+      'add_two_ints',
+      { qos: rclnodejs.QoS.profileSystemDefault },
+      (request, response) => {
+        let result = response.template;
+        result.sum = request.a + request.b;
+      }
+    );
+
+    const options = service.getOptions();
+    assert.strictEqual(options.depth, 0);
+    assert.strictEqual(
+      options.durability,
+      QoS.DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT
+    );
+    assert.strictEqual(
+      options.reliability,
+      QoS.ReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT
+    );
+    node.destroy();
+  });
 });

test/types/index.test-d.ts

@@ -202,6 +202,7 @@ expectType<void>(
   )
 );
 expectType<boolean>(service.isDestroyed());
+expectType<object>(service.getOptions());
 
 // ---- Client ----
 const client = node.createClient(

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;
   }
 }