Source: lib/action/graph.js

  1. // Copyright (c) 2020 Matt Richard. All rights reserved.
  2. //
  3. // Licensed under the Apache License, Version 2.0 (the "License");
  4. // you may not use this file except in compliance with the License.
  5. // You may obtain a copy of the License at
  6. //
  7. //     http://www.apache.org/licenses/LICENSE-2.0
  8. //
  9. // Unless required by applicable law or agreed to in writing, software
  10. // distributed under the License is distributed on an "AS IS" BASIS,
  11. // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  12. // See the License for the specific language governing permissions and
  13. // limitations under the License.
  15. 'use strict';
  17. const rclnodejs = require('bindings')('rclnodejs');
  19. /**
  20.  * Get a list of action names and types for action clients associated with a node.
  21.  * @param {Node} node - The node used for discovery.
  22.  * @param {string} nodeName - The name of a remote node to get action clients for.
  23.  * @param {string} namespace - Namespace of the remote node.
  24.  * @return {array} - An array of the names and types.
  25.  */
  26. function getActionClientNamesAndTypesByNode(node, nodeName, namespace) {
  27.   return rclnodejs.actionGetClientNamesAndTypesByNode(
  28.     node.handle,
  29.     nodeName,
  30.     namespace
  31.   );
  32. }
  34. /**
  35.  * Get a list of action names and types for action servers associated with a node.
  36.  * @param {Node} node - The node used for discovery.
  37.  * @param {string} nodeName - The name of a remote node to get action servers for.
  38.  * @param {string} namespace - Namespace of the remote node.
  39.  * @return {array} - An array of the names and types.
  40.  */
  41. function getActionServerNamesAndTypesByNode(node, nodeName, namespace) {
  42.   return rclnodejs.actionGetServerNamesAndTypesByNode(
  43.     node.handle,
  44.     nodeName,
  45.     namespace
  46.   );
  47. }
  49. /**
  50.  * Get a list of action names and types.
  51.  * @param {Node} node - The node used for discovery.
  52.  * @return {array} - An array of the names and types.
  53.  */
  54. function getActionNamesAndTypes(node) {
  55.   return rclnodejs.actionGetNamesAndTypes(node.handle);
  56. }
  58. module.exports = {
  59.   getActionClientNamesAndTypesByNode,
  60.   getActionServerNamesAndTypesByNode,
  61.   getActionNamesAndTypes,
  62. };