Support Node#spinning properly

* Converted Node.js `spinning` property to getter
* Updated node.d.ts
* Added tests for spinning getter

Fix #837

Author: wayneparrott

lib/node.js

@@ -102,7 +102,7 @@ class Node extends rclnodejs.ShadowNode {
     this._parameterEventPublisher = null;
     this._setParametersCallbacks = [];
     this._logger = new Logging(rclnodejs.getNodeLoggerName(this.handle));
-    this.spinning = false;
+    this._spinning = false;
 
     this._parameterEventPublisher = this.createPublisher(
       PARAMETER_EVENT_MSG_TYPE,
@@ -375,6 +375,14 @@ class Node extends rclnodejs.ShadowNode {
     });
   }
 
+  /**
+   * Determine if this node is spinning.
+   * @returns {boolean} - true when spinning; otherwise returns false.
+   */
+  get spinning() {
+    return this._spinning;
+  }
+
   /**
    * Trigger the event loop to continuously check for and route.
    * incoming events.
@@ -388,7 +396,7 @@ class Node extends rclnodejs.ShadowNode {
       throw new Error('The node is already spinning.');
     }
     this.start(this.context.handle, timeout);
-    this.spinning = true;
+    this._spinning = true;
   }
 
   /**
@@ -401,21 +409,21 @@ class Node extends rclnodejs.ShadowNode {
 
   /**
    * Terminate spinning - no further events will be received.
-   * @returns {undfined}
+   * @returns {undefined}
    */
   stop() {
     super.stop();
-    this.spinning = false;
+    this._spinning = false;
   }
 
   /**
    * Terminate spinning - no further events will be received.
-   * @returns {undfined}
+   * @returns {undefined}
    * @deprecated since 0.18.0, Use stop().
    */
   stopSpinning() {
     super.stop();
-    this.spinning = false;
+    this._spinning = false;
   }
 
   /**

test/test-node.js

@@ -489,7 +489,10 @@ describe('Test the node with no handles attached when initializing', function ()
       new NodeOptions(false, [], false)
     );
     const str = 'hello world';
+
+    assert.ok(!node.spinning);
     rclnodejs.spin(node);
+    assert.ok(node.spinning);
 
     setTimeout(() => {
       const publisher = node.createPublisher('std_msgs/msg/String', 'chatter');

test/types/main.ts

@@ -55,7 +55,13 @@ node.getLogger();
 node.getClock();
 
 // $ExpectType void
-rclnodejs.spin(node);
+node.spin();
+
+// $ExpectType void
+node.spinOnce();
+
+// $ExpectType boolean
+node.spinning;
 
 // $ExpectType void
 node.destroy();

types/node.d.ts

@@ -182,6 +182,13 @@ declare module 'rclnodejs' {
      */
     options(): NodeOptions;
 
+    /**
+     * Determine if this node is spinning.
+     *
+     * @returns true when spinning; otherwise returns false.
+     */
+    get spinning(): boolean;
+
     /**
      * Trigger the event loop to continuously check for and route.
      * incoming events.