Add publisher/subscription_event_type_is_supported#1520
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Pull request overview
This PR introduces new APIs to query whether specific publisher/subscription event types are supported by the active RMW implementation, exposing ROS 2 Rolling+ rcl_*_event_type_is_supported functionality through the native addon and a JS wrapper, with accompanying tests.
Changes:
- Add native N-API bindings for
rcl_publisher_event_type_is_supportedandrcl_subscription_event_type_is_supported(ROS 2 Rolling+ only). - Add JS wrapper functions
isPublisherEventTypeSupported/isSubscriptionEventTypeSupportedwith argument validation and Rolling+ gating. - Add tests covering behavior both when the native binding is present and when it is unavailable.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
test/test-event-handle.js |
Adds unit tests for the new “event type supported” APIs in both binding-available/unavailable scenarios. |
src/rcl_event_handle_bindings.cpp |
Exposes Rolling+ native functions to check event type support from the underlying rcl API. |
lib/event_handler.js |
Adds public JS helpers for checking event type support and exports them from the event handler module. |
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| function isPublisherEventTypeSupported(eventType) { | ||
| if (typeof rclnodejs.isPublisherEventTypeSupported !== 'function') { | ||
| throw new OperationError( | ||
| 'isPublisherEventTypeSupported is only available in ROS 2 Rolling and later', | ||
| { | ||
| code: 'UNSUPPORTED_ROS_VERSION', | ||
| entityType: 'publisher event type', | ||
| details: { | ||
| requiredVersion: 'rolling', | ||
| currentVersion: DistroUtils.getDistroId(), | ||
| }, | ||
| } | ||
| ); | ||
| } | ||
| if ( | ||
| typeof eventType !== 'number' || | ||
| !Object.values(PublisherEventType).includes(eventType) | ||
| ) { | ||
| throw new OperationError(`Invalid PublisherEventType value: ${eventType}`, { | ||
| code: 'INVALID_ARGUMENT', | ||
| entityType: 'publisher event type', | ||
| }); | ||
| } | ||
| return rclnodejs.isPublisherEventTypeSupported(eventType); |
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| function isSubscriptionEventTypeSupported(eventType) { | ||
| if (typeof rclnodejs.isSubscriptionEventTypeSupported !== 'function') { | ||
| throw new OperationError( | ||
| 'isSubscriptionEventTypeSupported is only available in ROS 2 Rolling and later', | ||
| { | ||
| code: 'UNSUPPORTED_ROS_VERSION', | ||
| entityType: 'subscription event type', | ||
| details: { | ||
| requiredVersion: 'rolling', | ||
| currentVersion: DistroUtils.getDistroId(), | ||
| }, | ||
| } | ||
| ); | ||
| } | ||
| if ( | ||
| typeof eventType !== 'number' || | ||
| !Object.values(SubscriptionEventType).includes(eventType) | ||
| ) { | ||
| throw new OperationError( | ||
| `Invalid SubscriptionEventType value: ${eventType}`, | ||
| { | ||
| code: 'INVALID_ARGUMENT', | ||
| entityType: 'subscription event type', | ||
| } | ||
| ); | ||
| } | ||
| return rclnodejs.isSubscriptionEventTypeSupported(eventType); | ||
| } |
|
coverage: 85.47% (-0.004%) from 85.474% — minggangw:fix-1519 into RobotWebTools:develop |
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Port rclpy PR ros2/rclpy#1647 (commit cfac914) to expose
rcl_publisher_event_type_is_supported()andrcl_subscription_event_type_is_supported(), so user code can query the active RMW implementation about which QoS events it delivers before wiring up a handler.The underlying rcl APIs (ros2/rcl#1317) ship in ROS 2 Rolling only.
src/rcl_event_handle_bindings.cpp): N-API wrappers exported asisPublisherEventTypeSupported/isSubscriptionEventTypeSupported, both gated by#if ROS_VERSION >= 5000.lib/event_handler.js): publicisPublisherEventTypeSupported(eventType)/isSubscriptionEventTypeSupported(eventType). Availability guard keys offtypeof rclnodejs.<fn> !== 'function'(mirrors the C++ build gate, matches the existing pattern inlib/action/client.js) and throwsOperationErroron pre-rolling. Argument validation usesTypeValidationError/RangeValidationErrorfor consistency withlib/time.js,lib/logging.js,lib/message_serialization.js.test/test-event-handle.js): two suites gated on native-symbol presence — asserts the unavailable-throw path, boolean returns for every enum value,MATCHEDreported supported, and the right validation-error class/message for invalid inputs.Fix: #1519