Skip to content

Move configure client introspection to binding of client #1116

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
May 4, 2025
Merged

Move configure client introspection to binding of client #1116

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 2 additions & 3 deletions lib/client.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -147,15 +147,14 @@ class Client extends Entity {
}

let type = this.typeClass.type();
rclnodejs.configureServiceIntrospection(
rclnodejs.configureClientIntrospection(
this.handle,
this._nodeHandle,
clock.handle,
type.interfaceName,
type.pkgName,
qos,
introspectionState,
false
introspectionState
);
}
}
Expand Down
3 changes: 1 addition & 2 deletions lib/service.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -138,8 +138,7 @@ class Service extends Entity {
type.interfaceName,
type.pkgName,
qos,
introspectionState,
true
introspectionState
);
}

Expand Down
41 changes: 41 additions & 0 deletions src/rcl_client_bindings.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -128,6 +128,43 @@ Napi::Value ServiceServerIsAvailable(const Napi::CallbackInfo& info) {
return Napi::Boolean::New(env, is_available);
}

#if ROS_VERSION > 2205 // 2205 == Humble
Napi::Value ConfigureClientIntrospection(const Napi::CallbackInfo& info) {
Napi::Env env = info.Env();

RclHandle* client_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
rcl_client_t* client = reinterpret_cast<rcl_client_t*>(client_handle->ptr());
RclHandle* node_handle = RclHandle::Unwrap(info[1].As<Napi::Object>());
rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
rcl_clock_t* clock = reinterpret_cast<rcl_clock_t*>(
RclHandle::Unwrap(info[2].As<Napi::Object>())->ptr());

std::string interface_name = info[3].As<Napi::String>().Utf8Value();
std::string package_name = info[4].As<Napi::String>().Utf8Value();
const rosidl_service_type_support_t* ts =
GetServiceTypeSupport(package_name, interface_name);

if (ts) {
rcl_publisher_options_t publisher_ops = rcl_publisher_get_default_options();
auto qos_profile = GetQoSProfile(info[5]);
if (qos_profile) {
publisher_ops.qos = *qos_profile;
}
rcl_service_introspection_state_t state =
static_cast<rcl_service_introspection_state_t>(
info[6].As<Napi::Number>().Uint32Value());

THROW_ERROR_IF_NOT_EQUAL(rcl_client_configure_service_introspection(
client, node, clock, ts, publisher_ops, state),
RCL_RET_OK, rcl_get_error_string().str);
} else {
Napi::Error::New(env, GetErrorMessageAndClear())
.ThrowAsJavaScriptException();
}
return env.Undefined();
}
#endif

Napi::Object InitClientBindings(Napi::Env env, Napi::Object exports) {
exports.Set("createClient", Napi::Function::New(env, CreateClient));
exports.Set("sendRequest", Napi::Function::New(env, SendRequest));
Expand All @@ -136,6 +173,10 @@ Napi::Object InitClientBindings(Napi::Env env, Napi::Object exports) {
Napi::Function::New(env, GetClientServiceName));
exports.Set("serviceServerIsAvailable",
Napi::Function::New(env, ServiceServerIsAvailable));
#if ROS_VERSION > 2205 // 2205 == Humble
exports.Set("configureClientIntrospection",
Napi::Function::New(env, ConfigureClientIntrospection));
#endif
return exports;
}

Expand Down
32 changes: 7 additions & 25 deletions src/rcl_service_bindings.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -120,6 +120,9 @@ Napi::Value GetServiceServiceName(const Napi::CallbackInfo& info) {
Napi::Value ConfigureServiceIntrospection(const Napi::CallbackInfo& info) {
Napi::Env env = info.Env();

RclHandle* service_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
rcl_service_t* service =
reinterpret_cast<rcl_service_t*>(service_handle->ptr());
RclHandle* node_handle = RclHandle::Unwrap(info[1].As<Napi::Object>());
rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());

Expand All @@ -137,39 +140,18 @@ Napi::Value ConfigureServiceIntrospection(const Napi::CallbackInfo& info) {
if (qos_profile) {
publisher_ops.qos = *qos_profile;
}

rcl_service_introspection_state_t state =
static_cast<rcl_service_introspection_state_t>(
info[6].As<Napi::Number>().Uint32Value());

bool configureForService = info[7].As<Napi::Boolean>();

if (configureForService) {
RclHandle* service_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
rcl_service_t* service =
reinterpret_cast<rcl_service_t*>(service_handle->ptr());

THROW_ERROR_IF_NOT_EQUAL(
rcl_service_configure_service_introspection(service, node, clock, ts,
publisher_ops, state),
RCL_RET_OK, rcl_get_error_string().str);

} else {
RclHandle* client_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
rcl_client_t* client =
reinterpret_cast<rcl_client_t*>(client_handle->ptr());

THROW_ERROR_IF_NOT_EQUAL(
rcl_client_configure_service_introspection(client, node, clock, ts,
publisher_ops, state),
RCL_RET_OK, rcl_get_error_string().str);
}

THROW_ERROR_IF_NOT_EQUAL(
rcl_service_configure_service_introspection(service, node, clock, ts,
publisher_ops, state),
RCL_RET_OK, rcl_get_error_string().str);
} else {
Napi::Error::New(env, GetErrorMessageAndClear())
.ThrowAsJavaScriptException();
}

return env.Undefined();
}
#endif
Expand Down
Loading