rclnodejs/types/qos.d.ts

ROS2.0 JavaScript client with Node.js

declare module 'rclnodejs' {
  /**
   * Middleware quality of service
   */

  class QoS {
    /**
     * Create a QoS.
     *
     * @param history - The history value default = RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT
     * @param depth - The depth value, default = 0.
     * @param reliability - The reliability value, default = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT
     * @param durability - The durability value, default = RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT
     * @param liveliness - The liveliness value, default = RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT
     * @param avoidRosNameSpaceConventions - The avoidRosNameSpaceConventions value, default = false.
     */
    constructor(
      history?: QoS.HistoryPolicy,
      depth?: number,
      reliability?: QoS.ReliabilityPolicy,
      durability?: QoS.DurabilityPolicy,
      liveliness?: QoS.LivelinessPolicy,
      avoidRosNameSpaceConventions?: boolean
    );

    /**
     * History value.
     */
    history: number;

    /**
     * The depth value.
     */
    depth: number;

    /**
     * Get the reliability value.
     */
    reliability(): QoS.ReliabilityPolicy;

    /**
     * Get the durability value.
     */
    durability: QoS.DurabilityPolicy;

    /**
     * Get the liveliness value.
     */
    liveliness: QoS.LivelinessPolicy;

    /**
     * Get the avoidRosNameSpaceConventions value.
     */
    avoidRosNameSpaceConventions: boolean;
  }

  namespace QoS {
    /**
     * Default profileref.
     */
    export const profileDefault = 'qos_profile_default';

    /**
     * Default system profileref.
     */
    export const profileSystemDefault = 'qos_profile_system_default';

    /**
     * Sensor data profileref.
     */
    export const profileSensorData = 'qos_profile_sensor_data';

    /**
     *  Default services profileref.
     */
    export const profileServicesDefault = 'qos_profile_services_default';

    /**
     * Parameters profileref.
     */
    export const profileParameters = 'qos_profile_parameters';

    /**
     * The parameter events profileref.
     */
    export const profileParameterEvents = 'qos_profile_parameter_events';

    /**
     * The action status profileref.
     */
    export const profileActionStatusDefault =
      'qos_profile_action_status_default';

    /**
     * A named policy reference.
     */
    export type ProfileRef = string;

    /**
     * HistoryPolicy
     */
    export enum HistoryPolicy {
      RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT = 0,
      RMW_QOS_POLICY_HISTORY_KEEP_LAST = 1,
      RMW_QOS_POLICY_HISTORY_KEEP_ALL = 2,
    }

    /**
     * ReliabilityPolicy
     */
    export enum ReliabilityPolicy {
      RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT = 0,
      RMW_QOS_POLICY_RELIABILITY_RELIABLE = 1,
      RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT = 2,
    }

    /**
     * DurabilityPolicy
     */
    enum DurabilityPolicy {
      RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT = 0,
      RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL = 1,
      RMW_QOS_POLICY_DURABILITY_VOLATILE = 2,
    }

    /**
     * LivelinessPolicy
     */
    enum LivelinessPolicy {
      RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT = 0,
      RMW_QOS_POLICY_LIVELINESS_AUTOMATIC = 1,
      RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC = 3,
      RMW_QOS_POLICY_LIVELINESS_UNKNOWN = 4,
      RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE = 5,
    }
  }

  /**
   * Enum of overridable QoS policy kinds.
   */
  enum QoSPolicyKind {
    HISTORY = 1,
    DEPTH = 2,
    RELIABILITY = 3,
    DURABILITY = 4,
    LIVELINESS = 5,
    AVOID_ROS_NAMESPACE_CONVENTIONS = 6,
  }

  /**
   * Options for overriding QoS policies via ROS parameters.
   *
   * When passed to `createPublisher()` or `createSubscription()`, the node
   * declares read-only parameters for each specified policy kind. These
   * parameters can be overridden at startup via `--ros-args -p` or `--params-file`.
   *
   * Parameter naming convention:
   *   `qos_overrides.<topic>.<publisher|subscription>[_<entityId>].<policy>`
   */
  class QoSOverridingOptions {
    /**
     * @param policyKinds - Which QoS policies to expose as parameters.
     * @param opts - Optional callback and entityId.
     */
    constructor(
      policyKinds: QoSPolicyKind[],
      opts?: {
        callback?: (qos: QoS) => { successful: boolean; reason?: string };
        entityId?: string;
      }
    );

    /** Which QoS policies are exposed as parameters. */
    readonly policyKinds: QoSPolicyKind[];

    /** Optional validation callback. */
    readonly callback:
      | ((qos: QoS) => { successful: boolean; reason?: string })
      | null;

    /** Optional entity disambiguation suffix. */
    readonly entityId: string | null;

    /**
     * Create options that override history, depth, and reliability.
     */
    static withDefaultPolicies(opts?: {
      callback?: (qos: QoS) => { successful: boolean; reason?: string };
      entityId?: string;
    }): QoSOverridingOptions;
  }
}