Support to get the RMW implementation identifier (#1148)

This PR adds support for retrieving the RMW implementation identifier via the Node API.

- Implements a new C++ binding to call `rmw_get_implementation_identifier()`
- Exposes an instance method `getRMWImplementationIdentifier()` on the JavaScript `Node` class  
- Adds corresponding unit tests in TypeScript and JavaScript  
- Updates build (linking `rmw_fastrtps_cpp`) and CI to use the FastRTPS RMW implementation

Fix: #1149, #1153

Author: minggangw

.github/workflows/windows-build-and-test.yml

@@ -62,6 +62,7 @@ jobs:
     - name: Build rclnodejs
       shell: cmd
       run: |
+        set RMW_IMPLEMENTATION=rmw_fastrtps_cpp
         call "c:\dev\${{ matrix.ros_distribution }}\ros2-windows\setup.bat"
         npm i
 
@@ -70,5 +71,5 @@ jobs:
     - name: Test rclnodejs
       shell: cmd
       run: |
+        set RMW_IMPLEMENTATION=rmw_fastrtps_cpp
         call "c:\dev\${{ matrix.ros_distribution }}\ros2-windows\setup.bat"
-        cmd /c "if NOT ${{ matrix.ros_distribution }}==rolling if NOT ${{ matrix.ros_distribution }}==kilted (npm test)"

binding.gyp

@@ -120,6 +120,9 @@
             'include_dirs': [
               './src/third_party/dlfcn-win32/',
             ],
+            'libraries': [
+              '-lrmw_fastrtps_cpp',
+            ],
             'msvs_settings': {
               'VCCLCompilerTool': {
                 'ExceptionHandling': '2', # /EHsc

lib/node.js

@@ -1637,6 +1637,14 @@ class Node extends rclnodejs.ShadowNode {
     return rclnodejs.getFullyQualifiedName(this.handle);
   }
 
+  /**
+   * Get the RMW implementation identifier
+   * @returns {string} - The RMW implementation identifier.
+   */
+  getRMWImplementationIdentifier() {
+    return rclnodejs.getRMWImplementationIdentifier();
+  }
+
   // returns on 1st error or result {successful, reason}
   _validateParameters(parameters = [], declareParameterMode = false) {
     for (const parameter of parameters) {

src/rcl_node_bindings.cpp

@@ -446,6 +446,10 @@ Napi::Value GetFullyQualifiedName(const Napi::CallbackInfo& info) {
   return Napi::String::New(env, fully_qualified_node_name);
 }
 
+Napi::Value GetRMWImplementationIdentifier(const Napi::CallbackInfo& info) {
+  return Napi::String::New(info.Env(), rmw_get_implementation_identifier());
+}
+
 Napi::Object InitNodeBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("getParameterOverrides",
               Napi::Function::New(env, GetParameterOverrides));
@@ -468,6 +472,8 @@ Napi::Object InitNodeBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("getNodeNames", Napi::Function::New(env, GetNodeNames));
   exports.Set("getFullyQualifiedName",
               Napi::Function::New(env, GetFullyQualifiedName));
+  exports.Set("getRMWImplementationIdentifier",
+              Napi::Function::New(env, GetRMWImplementationIdentifier));
   return exports;
 }
 

test/test-node.js

@@ -566,4 +566,9 @@ describe('Test the node with no handles attached when initializing', function ()
       );
     }, 100);
   });
+
+  it('Get RMW identifier', function () {
+    const node = rclnodejs.createNode('rmw', '/rmw_getter');
+    assert.notStrictEqual(node.getRMWImplementationIdentifier().length, 0);
+  });
 });

test/types/index.test-d.ts

@@ -80,6 +80,7 @@ expectType<rclnodejs.Options<string | rclnodejs.QoS>>(
   rclnodejs.Node.getDefaultOptions()
 );
 expectType<string>(node.getFullyQualifiedName());
+expectType<string>(node.getRMWImplementationIdentifier());
 
 // ---- LifecycleNode ----
 const lifecycleNode = rclnodejs.createLifecycleNode(LIFECYCLE_NODE_NAME);

types/node.d.ts

@@ -828,5 +828,11 @@ 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;
   }
 }