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Support get_type_description service via parameter #1162

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Merged
merged 6 commits into from
Jun 12, 2025
Merged

Support get_type_description service via parameter #1162

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bb3794d
Support get_type_description service via parameter
minggangw Jun 11, 2025
3bd5939
Address comments
minggangw Jun 11, 2025
5120e28
Fix test failure
minggangw Jun 11, 2025
f678f10
Address comments
minggangw Jun 11, 2025
aa2a857
Fix test failure
minggangw Jun 11, 2025
341f936
Add one more test case
minggangw Jun 12, 2025
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28 changes: 27 additions & 1 deletion lib/type_description_service.js
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,12 @@ const loader = require('./interface_loader.js');
const rclnodejs = require('bindings')('rclnodejs');
const Service = require('./service.js');

const {
ParameterType,
Parameter,
ParameterDescriptor,
} = require('../lib/parameter.js');

// This class is used to create a TypeDescriptionService which can be used to
// retrieve information about types used by the node’s publishers, subscribers,
// services or actions.
Expand All @@ -32,10 +38,30 @@ class TypeDescriptionService {
'type_description_interfaces/srv/GetTypeDescription'
);
this._typeDescriptionService = null;

this._enabled = false;
const startTypeDescriptionServiceParam = 'start_type_description_service';
if (!node.hasParameter(startTypeDescriptionServiceParam)) {
node.declareParameter(
new Parameter(
startTypeDescriptionServiceParam,
ParameterType.PARAMETER_BOOL,
true
),
new ParameterDescriptor(
startTypeDescriptionServiceParam,
ParameterType.PARAMETER_BOOL,
'If enabled, start the ~/get_type_description service.',
true
)
);
}
const param = node.getParameter(startTypeDescriptionServiceParam);
Comment on lines +43 to +59
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Copilot AI Jun 11, 2025

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[nitpick] Consider extracting the parameter name 'start_type_description_service' into a top-level constant to avoid duplication and reduce risk of typos.

Suggested change
const startTypeDescriptionServiceParam = 'start_type_description_service';
if (!node.hasParameter(startTypeDescriptionServiceParam)) {
node.declareParameter(
new Parameter(
startTypeDescriptionServiceParam,
ParameterType.PARAMETER_BOOL,
true
),
new ParameterDescriptor(
startTypeDescriptionServiceParam,
ParameterType.PARAMETER_BOOL,
'If enabled, start the ~/get_type_description service.',
true
)
);
}
const param = node.getParameter(startTypeDescriptionServiceParam);
if (!node.hasParameter(START_TYPE_DESCRIPTION_SERVICE_PARAM)) {
node.declareParameter(
new Parameter(
START_TYPE_DESCRIPTION_SERVICE_PARAM,
ParameterType.PARAMETER_BOOL,
true
),
new ParameterDescriptor(
START_TYPE_DESCRIPTION_SERVICE_PARAM,
ParameterType.PARAMETER_BOOL,
'If enabled, start the ~/get_type_description service.',
true
)
);
}
const param = node.getParameter(START_TYPE_DESCRIPTION_SERVICE_PARAM);

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this._enabled = param.value;
}

start() {
if (this._typeDescriptionService) {
if (!this._enabled || this._typeDescriptionService) {
return;
}

Expand Down
23 changes: 23 additions & 0 deletions test/test-type-description-service.js
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Expand Up @@ -19,6 +19,7 @@ const assertUtils = require('./utils.js');
const DistroUtils = require('../lib/distro.js');
const rclnodejs = require('../index.js');
const TypeDescriptionService = require('../lib/type_description_service.js');
const { exec } = require('child_process');

describe('type description service test suite', function () {
this.timeout(60 * 1000);
Expand Down Expand Up @@ -73,4 +74,26 @@ describe('type description service test suite', function () {
done();
});
});

it('Test type description service configured by parameter', function (done) {
exec(
'ros2 param list /test_type_description_service',
(error, stdout, stderr) => {
if (error || stderr) {
done(
new Error(
'Test type description service configured by parameter failed.'
)
);
}
Comment on lines +88 to +94
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Copilot AI Jun 11, 2025

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[nitpick] Currently the test fails on any stderr output; consider only failing on a non-zero exit code and logging stderr to avoid false negatives from warnings.

Suggested change
if (error || stderr) {
done(
new Error(
'Test type description service configured by parameter failed.'
)
);
}
if (error) {
done(
new Error(
`Test type description service configured by parameter failed with error: ${error.message}`
)
);
return;
}
if (stderr) {
console.warn(`Warning: stderr output detected: ${stderr}`);
}

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if (stdout.includes('start_type_description_service')) {
done();
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The test case may hang if 'start_type_description_service' is not found in stdout because there is no else branch to call done() with an error. Consider adding an else branch that terminates the test with an appropriate error message.

Suggested change
done();
done();
} else {
done(
new Error(
"'start_type_description_service' not found in stdout."
)
);

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} else {
done(
new Error("'start_type_description_service' not found in stdout.")
);
}
}
);
Comment on lines +85 to +103
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Copilot AI Jun 11, 2025

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Shelling out to ros2 in tests can be brittle; consider using the rclnodejs Node API to list or get parameters directly in code for a more reliable test.

Suggested change
exec(
'ros2 param list /test_type_description_service',
(error, stdout, stderr) => {
if (error || stderr) {
done(
new Error(
'Test type description service configured by parameter failed.'
)
);
}
if (stdout.includes('start_type_description_service')) {
done();
} else {
done(
new Error("'start_type_description_service' not found in stdout.")
);
}
}
);
const parameterName = 'start_type_description_service';
const parameters = node.getParameters([parameterName]);
if (parameters[parameterName] !== undefined) {
done();
} else {
done(
new Error(`'${parameterName}' not found in node parameters.`)
);
}

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});
});
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