From 2b8ca58bbcd05ce66be7f548dc3654017c13747e Mon Sep 17 00:00:00 2001
From: Minggang Wang <minggangw@gmail.com>
Date: Thu, 6 Feb 2025 16:44:35 +0800
Subject: [PATCH 1/3] Add types to ParameterService

Since ROS2 Jazzy, parameter services support a service type of
rcl_interfaces/srv/GetParameterTypes, which can get a list of
parameter types associated with the requested parameters.

This patch implements:

1. Add service /node_name/get_parameters, which is used to get
   the parameter types.
2. Add unit test, Get_parameter_types, into test-parameter-service.js.

Meanwhile, this patch fixes the timeout issue when executing:

ros2 param list node_name

because of absence of /node_name/get_parameters.

Fix: #1024
---
 lib/node.js                    | 20 ++++++++++++++++++++
 lib/parameter_service.js       | 27 +++++++++++++++++++++++++++
 test/test-parameter-service.js | 30 ++++++++++++++++++++++++++++++
 3 files changed, 77 insertions(+)

diff --git a/lib/node.js b/lib/node.js
index fdc7da43..f76bdb43 100644
--- a/lib/node.js
+++ b/lib/node.js
@@ -1273,6 +1273,26 @@ class Node extends rclnodejs.ShadowNode {
     return params;
   }
 
+  /**
+   * Get the types of given parameters.
+   *
+   * Return the types of given parameters.
+   *
+   * @param {string[]} [names] - The names of the declared parameters.
+   * @return {Uint8Array} - The types.
+   */
+  getParameterTypes(names = []) {
+    let types = [];
+
+    for (const name of names) {
+      const descriptor = this._parameterDescriptors.get(name);
+      if (descriptor) {
+        types.push(descriptor.type);
+      }
+    }
+    return types;
+  }
+
   /**
    * Get the names of all declared parameters.
    *
diff --git a/lib/parameter_service.js b/lib/parameter_service.js
index adaf989f..752d4665 100644
--- a/lib/parameter_service.js
+++ b/lib/parameter_service.js
@@ -110,6 +110,16 @@ class ParameterService {
       }
     );
 
+    // Create GetParameterTypes service.
+    const getParameterTypesServiceName = nodeName + '/get_parameter_types';
+    this._node.createService(
+      'rcl_interfaces/srv/GetParameterTypes',
+      getParameterTypesServiceName,
+      (request, response) => {
+        this._handleGetParameterTypes(request, response);
+      }
+    );
+
     // create SetParametersAtomically service
     const setParametersAtomicallyServiceName =
       nodeName + '/set_parameters_atomically';
@@ -266,6 +276,23 @@ class ParameterService {
     response.send(msg);
   }
 
+  /**
+   * Get a list of parameter types.
+   *
+   * request.names identifies the parameter types to get.
+   *
+   * @param {GetParameterTypes_Request} request - The client request.
+   * @param {GetParameterTypes_Response} response - The service response with
+   *    Uint8Array.
+   * @return {undefined} -
+   */
+  _handleGetParameterTypes(request, response) {
+    const types = this._node.getParameterTypes(request.names);
+    const msg = response.template;
+    msg.types = types;
+    response.send(msg);
+  }
+
   /**
    * Update a list of parameters atomically.
    *
diff --git a/test/test-parameter-service.js b/test/test-parameter-service.js
index b90140c6..507b0a6e 100644
--- a/test/test-parameter-service.js
+++ b/test/test-parameter-service.js
@@ -367,4 +367,34 @@ describe('Parameter_server tests', function () {
       `Expected 3 parameter-events, received ${eventCount} events.`
     );
   });
+
+  it('Get_parameter_types', async function () {
+    const client = clientNode.createClient(
+      'rcl_interfaces/srv/GetParameterTypes',
+      'test_node/get_parameter_types'
+    );
+    await client.waitForService();
+
+    const ParamTypes = rclnodejs.require('rcl_interfaces/msg/ParameterType');
+    const request = new (rclnodejs.require(
+      'rcl_interfaces/srv/GetParameterTypes'
+    ).Request)();
+    request.names = ['p1', 'p2', 'A.p3'];
+    let success = false;
+
+    client.sendRequest(request, (response) => {
+      assert.deepEqual(response.types.length, 3);
+      assert.deepEqual(
+        response.types,
+        Uint8Array.from([
+          ParamTypes.PARAMETER_STRING,
+          ParamTypes.PARAMETER_INTEGER,
+          ParamTypes.PARAMETER_BOOL,
+        ])
+      );
+      success = true;
+    });
+    await assertUtils.createDelay(STD_WAIT);
+    assert.ok(success);
+  });
 });

From e62377434bb996a6808c806177e2737173908c6c Mon Sep 17 00:00:00 2001
From: Minggang Wang <minggangw@gmail.com>
Date: Thu, 6 Feb 2025 17:24:42 +0800
Subject: [PATCH 2/3] Fix test failure of destoryService()

---
 test/test-extra-destroy-methods.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/test-extra-destroy-methods.js b/test/test-extra-destroy-methods.js
index 9e3f5f91..aa4e5246 100644
--- a/test/test-extra-destroy-methods.js
+++ b/test/test-extra-destroy-methods.js
@@ -93,7 +93,7 @@ describe('Node extra destroy methods testing', function () {
     const AddTwoInts = 'example_interfaces/srv/AddTwoInts';
     // const AddTwoInts = rclnodejs.require('example_interfaces/srv/AddTwoInts');
     var service = node.createService(AddTwoInts, 'add_two_ints', () => {});
-    assert.deepStrictEqual(node._services.length, 6);
+    assert.deepStrictEqual(node._services.length, 7);
 
     assertThrowsError(
       function () {

From c426e1c071abbb5a60d61f34640e439c9c1df449 Mon Sep 17 00:00:00 2001
From: Minggang Wang <minggangw@gmail.com>
Date: Fri, 7 Feb 2025 09:45:14 +0800
Subject: [PATCH 3/3] Fix test failure of destoryService()

---
 test/test-extra-destroy-methods.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/test-extra-destroy-methods.js b/test/test-extra-destroy-methods.js
index aa4e5246..d2ecdc9d 100644
--- a/test/test-extra-destroy-methods.js
+++ b/test/test-extra-destroy-methods.js
@@ -105,7 +105,7 @@ describe('Node extra destroy methods testing', function () {
     );
 
     node.destroyService(service);
-    assert.deepStrictEqual(node._services.length, 5);
+    assert.deepStrictEqual(node._services.length, 6);
   });
 
   it('destroyTimer()', function () {