Support waitForAllAcked() for publisher #1138
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Pull Request Overview
This PR introduces the waitForAllAcked() feature to publisher objects so that users can block until all published messages are acknowledged. Key changes include:
- Adding type tests for waitForAllAcked() in TypeScript.
- Implementing the native binding in C++ (rcl_publisher_bindings.cpp).
- Exposing the waitForAllAcked() method on the JavaScript Publisher class and adding a corresponding test.
Reviewed Changes
Copilot reviewed 5 out of 5 changed files in this pull request and generated 1 comment.
| File | Description |
|---|---|
| test/types/index.test-d.ts | Added type assertions for waitForAllAcked() |
| test/test-publisher.js | Added a test case to verify waitForAllAcked() behavior with subscriptions |
| src/rcl_publisher_bindings.cpp | Implemented native waitForAllAcked() binding with handling of timeout errors |
| lib/publisher.js | Added waitForAllAcked() to the Publisher class |
Comments suppressed due to low confidence (1)
test/test-publisher.js:57
- Using 'String' as a variable name may shadow the built-in String type. Consider renaming it to something like 'msgType' to avoid potential confusion.
const String = 'std_msgs/msg/String';
src/rcl_publisher_bindings.cpp
Outdated
| } | ||
| Napi::Error::New(env, "Failed to wait for all acknowledgements") | ||
| .ThrowAsJavaScriptException(); | ||
| throw env.Undefined(); |
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Consider replacing 'throw env.Undefined();' with 'return env.Undefined();' after throwing the error to improve clarity and avoid unnecessary exception propagation.
Suggested change
| throw env.Undefined(); | |
| return env.Undefined(); |
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Pull Request Overview
This pull request adds support for the waitForAllAcked() method in the publisher API to allow clients to block until all published messages are acknowledged (or until a timeout occurs).
- Adds type definitions for waitForAllAcked() in the TypeScript tests.
- Implements and exposes waitForAllAcked() in the C++ bindings and in the JavaScript publisher class.
- Introduces a new test case validating the waitForAllAcked() behavior.
Reviewed Changes
Copilot reviewed 5 out of 5 changed files in this pull request and generated no comments.
| File | Description |
|---|---|
| test/types/index.test-d.ts | Adds TS type check for waitForAllAcked() method |
| test/test-publisher.js | Introduces a test verifying waitForAllAcked() returns true |
| src/rcl_publisher_bindings.cpp | Implements the native waitForAllAcked() binding |
| lib/publisher.js | Adds the waitForAllAcked method with accompanying documentation |
minggangw
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May 23, 2025
This pull request adds support for the waitForAllAcked() method in the publisher API to allow clients to block until all published messages are acknowledged (or until a timeout occurs). - Adds type definitions for waitForAllAcked() in the TypeScript tests. - Implements and exposes waitForAllAcked() in the C++ bindings and in the JavaScript publisher class. - Introduces a new test case validating the waitForAllAcked() behavior. Fix: #1137
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This pull request adds support for the waitForAllAcked() method in the publisher API to allow clients to block until all published messages are acknowledged (or until a timeout occurs).
Fix: #1137