Add some missing methods from rcl (#1106)

minggangw · web-flow · commit 4a85210ef883 · 2025-04-29T16:30:00.000+08:00
This PR adds missing methods to count publishers, subscriptions, clients, and services in rclnodejs, along with corresponding tests and binding implementations. - New tests have been implemented to verify the newly added methods. - Binding functions in C++ for subscriptions, publishers, nodes, and contexts have been extended. | File | Description | | ----------------------------------- | ---------------------------------------------------- | | test/test-subscription.js | Added test to verify publisher count on a subscription. | | test/test-publisher.js | Added test to verify subscription count on a publisher. | | test/test-node.js | Added tests for counting clients and services on a node. | | test/test-context.js | Added test to verify the context's domain ID. | | src/rcl_subscription_bindings.cpp | Added GetPublisherCount binding. | | src/rcl_publisher_bindings.cpp | Added GetSubscriptionCount binding. | | src/rcl_node_bindings.cpp | Added countPublishers, countSubscribers, countClients, and countServices bindings. | | src/rcl_graph_bindings.cpp | Removed redundant count functions. | | src/rcl_context_bindings.cpp | Added GetDomainId binding. | | lib/subscription.js | Added publisherCount getter. | | lib/publisher.js | Added subscriptionCount getter. | | lib/node.js | Added countClients and countServices methods. | | lib/context.js | Added domainId getter. | Fix: #1107
diff --git a/lib/context.js b/lib/context.js
@@ -219,6 +219,14 @@ class Context {
     }
     return defaultContext;
   }
+
+  /**
+   * Get the domain ID of this context.
+   * @returns {Number} domain ID of this context
+   */
+  get domainId() {
+    return rclnodejs.getDomainId(this.handle);
+  }
 }
 
 Context._instances = [];
diff --git a/lib/node.js b/lib/node.js
@@ -1061,6 +1061,24 @@ class Node extends rclnodejs.ShadowNode {
     return rclnodejs.countSubscribers(this.handle, expandedTopic);
   }
 
+  /**
+   * Get the number of clients on a given service name.
+   * @param {string} serviceName - the service name
+   * @returns {Number}
+   */
+  countClients(serviceName) {
+    return rclnodejs.countClients(this.handle, serviceName);
+  }
+
+  /**
+   * Get the number of services on a given service name.
+   * @param {string} serviceName - the service name
+   * @returns {Number}
+   */
+  countServices(serviceName) {
+    return rclnodejs.countServices(this.handle, serviceName);
+  }
+
   /**
    * Get the list of parameter-overrides found on the commandline and
    * in the NodeOptions.parameter_overrides property.
diff --git a/lib/publisher.js b/lib/publisher.js
@@ -72,6 +72,14 @@ class Publisher extends Entity {
     );
     return new Publisher(handle, typeClass, topic, options);
   }
+
+  /**
+   * Get the number of subscriptions to this publisher.
+   * @returns {number} The number of subscriptions
+   */
+  get subscriptionCount() {
+    return rclnodejs.getSubscriptionCount(this._handle);
+  }
 }
 
 module.exports = Publisher;
diff --git a/lib/subscription.js b/lib/subscription.js
@@ -116,6 +116,14 @@ class Subscription extends Entity {
       ? rclnodejs.clearContentFilter(this.handle)
       : true;
   }
+
+  /**
+   * Get the number of publishers to this subscription.
+   * @returns {number} The number of publishers
+   */
+  get publisherCount() {
+    return rclnodejs.getPublisherCount(this._handle);
+  }
 }
 
 module.exports = Subscription;
diff --git a/src/rcl_context_bindings.cpp b/src/rcl_context_bindings.cpp
@@ -127,11 +127,29 @@ Napi::Value IsContextValid(const Napi::CallbackInfo& info) {
   return Napi::Boolean::New(env, is_valid);
 }
 
+Napi::Value GetDomainId(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* context_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_context_t* context =
+      reinterpret_cast<rcl_context_t*>(context_handle->ptr());
+  size_t domain_id;
+  rcl_ret_t ret = rcl_context_get_domain_id(context, &domain_id);
+  if (RCL_RET_OK != ret) {
+    Napi::Error::New(env, rcl_get_error_string().str)
+        .ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
+
+  return Napi::Number::New(env, domain_id);
+}
+
 Napi::Object InitContextBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("init", Napi::Function::New(env, Init));
   exports.Set("shutdown", Napi::Function::New(env, Shutdown));
   exports.Set("createContext", Napi::Function::New(env, CreateContext));
   exports.Set("isContextValid", Napi::Function::New(env, IsContextValid));
+  exports.Set("getDomainId", Napi::Function::New(env, GetDomainId));
   return exports;
 }
 
diff --git a/src/rcl_graph_bindings.cpp b/src/rcl_graph_bindings.cpp
@@ -232,36 +232,6 @@ Napi::Value GetNodeNames(const Napi::CallbackInfo& info) {
   return result_list;
 }
 
-Napi::Value CountPublishers(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());
-  std::string topic_name = info[1].As<Napi::String>().Utf8Value();
-
-  size_t count = 0;
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK, rcl_count_publishers(node, topic_name.c_str(), &count),
-      "Failed to count publishers.");
-
-  return Napi::Number::New(env, static_cast<int32_t>(count));
-}
-
-Napi::Value CountSubscribers(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());
-  std::string topic_name = info[1].As<Napi::String>().Utf8Value();
-
-  size_t count = 0;
-  THROW_ERROR_IF_NOT_EQUAL(
-      RCL_RET_OK, rcl_count_subscribers(node, topic_name.c_str(), &count),
-      "Failed to count subscribers.");
-
-  return Napi::Number::New(env, static_cast<int32_t>(count));
-}
-
 Napi::Value ServiceServerIsAvailable(const Napi::CallbackInfo& info) {
   Napi::Env env = info.Env();
 
@@ -292,8 +262,6 @@ Napi::Object InitGraphBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("getServiceNamesAndTypes",
               Napi::Function::New(env, GetServiceNamesAndTypes));
   exports.Set("getNodeNames", Napi::Function::New(env, GetNodeNames));
-  exports.Set("countPublishers", Napi::Function::New(env, CountPublishers));
-  exports.Set("countSubscribers", Napi::Function::New(env, CountSubscribers));
   exports.Set("serviceServerIsAvailable",
               Napi::Function::New(env, ServiceServerIsAvailable));
   return exports;
diff --git a/src/rcl_node_bindings.cpp b/src/rcl_node_bindings.cpp
@@ -318,6 +318,66 @@ Napi::Value ActionGetNamesAndTypes(const Napi::CallbackInfo& info) {
   return result_list;
 }
 
+Napi::Value CountPublishers(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());
+  std::string topic_name = info[1].As<Napi::String>().Utf8Value();
+
+  size_t count = 0;
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK, rcl_count_publishers(node, topic_name.c_str(), &count),
+      "Failed to count publishers.");
+
+  return Napi::Number::New(env, static_cast<int32_t>(count));
+}
+
+Napi::Value CountSubscribers(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());
+  std::string topic_name = info[1].As<Napi::String>().Utf8Value();
+
+  size_t count = 0;
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK, rcl_count_subscribers(node, topic_name.c_str(), &count),
+      "Failed to count subscribers.");
+
+  return Napi::Number::New(env, static_cast<int32_t>(count));
+}
+
+Napi::Value CountClients(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());
+  std::string service_name = info[1].As<Napi::String>().Utf8Value();
+
+  size_t count = 0;
+  THROW_ERROR_IF_NOT_EQUAL(
+      rcl_count_clients(node, service_name.c_str(), &count), RCL_RET_OK,
+      rcl_get_error_string().str);
+
+  return Napi::Number::New(env, count);
+}
+
+Napi::Value CountServices(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());
+  std::string service_name = info[1].As<Napi::String>().Utf8Value();
+
+  size_t count = 0;
+  THROW_ERROR_IF_NOT_EQUAL(
+      rcl_count_services(node, service_name.c_str(), &count), RCL_RET_OK,
+      rcl_get_error_string().str);
+
+  return Napi::Number::New(env, count);
+}
+
 Napi::Object InitNodeBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("getParameterOverrides",
               Napi::Function::New(env, GetParameterOverrides));
@@ -331,6 +391,10 @@ Napi::Object InitNodeBindings(Napi::Env env, Napi::Object exports) {
               Napi::Function::New(env, ActionGetServerNamesAndTypesByNode));
   exports.Set("actionGetNamesAndTypes",
               Napi::Function::New(env, ActionGetNamesAndTypes));
+  exports.Set("countPublishers", Napi::Function::New(env, CountPublishers));
+  exports.Set("countSubscribers", Napi::Function::New(env, CountSubscribers));
+  exports.Set("countClients", Napi::Function::New(env, CountClients));
+  exports.Set("countServices", Napi::Function::New(env, CountServices));
   return exports;
 }
 
diff --git a/src/rcl_publisher_bindings.cpp b/src/rcl_publisher_bindings.cpp
@@ -114,11 +114,27 @@ Napi::Value PublishRawMessage(const Napi::CallbackInfo& info) {
   return env.Undefined();
 }
 
+Napi::Value GetSubscriptionCount(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());
+
+  size_t count = 0;
+  THROW_ERROR_IF_NOT_EQUAL(
+      rcl_publisher_get_subscription_count(publisher, &count), RCL_RET_OK,
+      rcl_get_error_string().str);
+
+  return Napi::Number::New(env, count);
+}
+
 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));
   exports.Set("getPublisherTopic", Napi::Function::New(env, GetPublisherTopic));
   exports.Set("publishRawMessage", Napi::Function::New(env, PublishRawMessage));
+  exports.Set("getSubscriptionCount",
+              Napi::Function::New(env, GetSubscriptionCount));
   return exports;
 }
 
diff --git a/src/rcl_subscription_bindings.cpp b/src/rcl_subscription_bindings.cpp
@@ -303,6 +303,20 @@ Napi::Value ClearContentFilter(const Napi::CallbackInfo& info) {
 #endif
 }
 
+Napi::Value GetPublisherCount(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  rcl_subscription_t* subscription = reinterpret_cast<rcl_subscription_t*>(
+      RclHandle::Unwrap(info[0].As<Napi::Object>())->ptr());
+
+  size_t count = 0;
+  THROW_ERROR_IF_NOT_EQUAL(
+      rcl_subscription_get_publisher_count(subscription, &count), RCL_RET_OK,
+      rcl_get_error_string().str);
+
+  return Napi::Number::New(env, count);
+}
+
 Napi::Object InitSubscriptionBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("rclTake", Napi::Function::New(env, RclTake));
   exports.Set("createSubscription",
@@ -314,6 +328,7 @@ Napi::Object InitSubscriptionBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("setContentFilter", Napi::Function::New(env, SetContentFilter));
   exports.Set("clearContentFilter",
               Napi::Function::New(env, ClearContentFilter));
+  exports.Set("getPublisherCount", Napi::Function::New(env, GetPublisherCount));
   return exports;
 }
 
diff --git a/test/test-context.js b/test/test-context.js
@@ -80,4 +80,10 @@ describe('context test suite', function () {
     context.shutdown();
     assert.strictEqual(context.nodes.length, 0);
   });
+
+  it('context number id', async function () {
+    let context = new rclnodejs.Context();
+    await rclnodejs.init(context);
+    assert.strictEqual(typeof context.domainId, 'number');
+  });
 });
diff --git a/test/test-node.js b/test/test-node.js
@@ -420,6 +420,23 @@ describe('rcl node methods testing', function () {
     await assertUtils.createDelay(500);
     assert.strictEqual(node.countSubscribers('chatter'), 2);
   });
+
+  it('node.countClients', function () {
+    const node = rclnodejs.createNode('publisher_node');
+    const AddTwoInts = 'example_interfaces/srv/AddTwoInts';
+    node.createClient(AddTwoInts, 'add_two_ints');
+    assert.strictEqual(node.countClients('/add_two_ints'), 1);
+
+    node.createClient(AddTwoInts, 'add_two_ints');
+    assert.strictEqual(node.countClients('/add_two_ints'), 2);
+  });
+
+  it('node.countServices', function () {
+    const node = rclnodejs.createNode('publisher_node');
+    const AddTwoInts = 'example_interfaces/srv/AddTwoInts';
+    node.createService(AddTwoInts, 'add_two_ints', (req) => {});
+    assert.strictEqual(node.countServices('/add_two_ints'), 1);
+  });
 });
 
 describe('topic & serviceName getter/setter', function () {
diff --git a/test/test-publisher.js b/test/test-publisher.js
@@ -14,6 +14,7 @@
 
 'use strict';
 
+const assert = require('assert');
 const rclnodejs = require('../index.js');
 
 describe('rclnodejs publisher test suite', function () {
@@ -42,4 +43,12 @@ describe('rclnodejs publisher test suite', function () {
     publisher.publish(msg);
     rclnodejs.spin(node);
   });
+
+  it('Test count of subscriptions', function () {
+    const node = rclnodejs.createNode('publisher_node');
+    const String = 'std_msgs/msg/String';
+    const publisher = node.createPublisher(String, 'topic');
+    node.createSubscription(String, 'topic', (msg) => {});
+    assert.strictEqual(publisher.subscriptionCount, 1);
+  });
 });
diff --git a/test/test-subscription.js b/test/test-subscription.js
@@ -0,0 +1,38 @@
+// 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 assert = require('assert');
+const rclnodejs = require('../index.js');
+
+describe('rclnodejs subscription test suite', function () {
+  this.timeout(60 * 1000);
+
+  beforeEach(function () {
+    return rclnodejs.init();
+  });
+
+  afterEach(function () {
+    rclnodejs.shutdown();
+  });
+
+  it('Test count of subscription', function () {
+    const node = rclnodejs.createNode('publisher_node');
+    const String = 'std_msgs/msg/String';
+    node.createPublisher(String, 'topic');
+    const subscription = node.createSubscription(String, 'topic', (msg) => {});
+    assert.strictEqual(subscription.publisherCount, 1);
+  });
+});

Original file line number	Diff line number	Diff line change
`@@ -219,6 +219,14 @@ class Context {`
`219`	`219`	`}`
`220`	`220`	`return defaultContext;`
`221`	`221`	`}`
	`222`	`+`
	`223`	`+ /**`
	`224`	`+ * Get the domain ID of this context.`
	`225`	`+ * @returns {Number} domain ID of this context`
	`226`	`+ */`
	`227`	`+ get domainId() {`
	`228`	`+ return rclnodejs.getDomainId(this.handle);`
	`229`	`+ }`
`222`	`230`	`}`
`223`	`231`
`224`	`232`	`Context._instances = [];`
Original file line number	Diff line number	Diff line change
`@@ -72,6 +72,14 @@ class Publisher extends Entity {`
`72`	`72`	`);`
`73`	`73`	`return new Publisher(handle, typeClass, topic, options);`
`74`	`74`	`}`
	`75`	`+`
	`76`	`+ /**`
	`77`	`+ * Get the number of subscriptions to this publisher.`
	`78`	`+ * @returns {number} The number of subscriptions`
	`79`	`+ */`
	`80`	`+ get subscriptionCount() {`
	`81`	`+ return rclnodejs.getSubscriptionCount(this._handle);`
	`82`	`+ }`
`75`	`83`	`}`
`76`	`84`
`77`	`85`	`module.exports = Publisher;`
Original file line number	Diff line number	Diff line change
`@@ -116,6 +116,14 @@ class Subscription extends Entity {`
`116`	`116`	`? rclnodejs.clearContentFilter(this.handle)`
`117`	`117`	`: true;`
`118`	`118`	`}`
	`119`	`+`
	`120`	`+ /**`
	`121`	`+ * Get the number of publishers to this subscription.`
	`122`	`+ * @returns {number} The number of publishers`
	`123`	`+ */`
	`124`	`+ get publisherCount() {`
	`125`	`+ return rclnodejs.getPublisherCount(this._handle);`
	`126`	`+ }`
`119`	`127`	`}`
`120`	`128`
`121`	`129`	`module.exports = Subscription;`