Implement getNodeNames from rcl_get_node_names

lib/node.js

@@ -454,6 +454,14 @@ class Node {
   getServiceNamesAndTypes() {
     return rclnodejs.getServiceNamesAndTypes(this.handle);
   }
+
+  /**
+   * Get the list of nodes discovered by the provided node.
+   * @return {array} - An array of the names and namespaces.
+   */
+  getNodeNames() {
+    return rclnodejs.getNodeNames(this.handle);
+  }
 }
 
 module.exports = Node;

src/rcl_bindings.cpp

@@ -1221,6 +1221,47 @@ NAN_METHOD(GetServiceNamesAndTypes) {
   info.GetReturnValue().Set(result_list);
 }
 
+NAN_METHOD(GetNodeNames) {
+  RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(info[0]->ToObject());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+  rcutils_string_array_t node_names =
+    rcutils_get_zero_initialized_string_array();
+  rcutils_string_array_t node_namespaces =
+    rcutils_get_zero_initialized_string_array();
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+
+  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
+                           rcl_get_node_names(
+                               node, allocator, &node_names, &node_namespaces),
+                           "Failed to get_node_names.");
+
+  v8::Local<v8::Array> result_list = Nan::New<v8::Array>(node_names.size);
+
+  for (int i = 0; i < node_names.size; ++i) {
+    auto item = v8::Object::New(v8::Isolate::GetCurrent());
+
+    item->Set(Nan::New("name").ToLocalChecked(),
+              Nan::New(node_names.data[i]).ToLocalChecked());
+    item->Set(Nan::New("namespace").ToLocalChecked(),
+              Nan::New(node_namespaces.data[i]).ToLocalChecked());
+
+    Nan::Set(result_list, i, item);
+  }
+
+  rcutils_ret_t fini_names_ret = rcutils_string_array_fini(&node_names);
+  rcutils_ret_t fini_namespaces_ret =
+    rcutils_string_array_fini(&node_namespaces);
+
+  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
+                           fini_names_ret,
+                           "Failed to destroy node_names");
+  THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
+                           fini_namespaces_ret,
+                           "Failed to destroy node_namespaces");
+
+  info.GetReturnValue().Set(result_list);
+}
+
 NAN_METHOD(ServiceServerIsAvailable) {
   RclHandle* node_handle = RclHandle::Unwrap<RclHandle>(info[0]->ToObject());
   rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
@@ -1300,6 +1341,7 @@ BindingMethod binding_methods[] = {
     {"getServiceNamesAndTypesByNode", GetServiceNamesAndTypesByNode},
     {"getTopicNamesAndTypes", GetTopicNamesAndTypes},
     {"getServiceNamesAndTypes", GetServiceNamesAndTypes},
+    {"getNodeNames", GetNodeNames},
     {"serviceServerIsAvailable", ServiceServerIsAvailable},
     {"", nullptr}};
 

test/test-node.js

@@ -304,6 +304,17 @@ describe('rcl node methods testing', function() {
       });
     });
   });
+
+  it('node.getNodeNames', function() {
+    var nodeNames = node.getNodeNames();
+
+    var currentNode = nodeNames.find(function(nodeName) {
+      return nodeName.name === 'my_node';
+    });
+
+    assert.ok(currentNode);
+    assert.strictEqual(currentNode.namespace, '/my_ns');
+  });
 });
 
 describe('topic & serviceName getter/setter', function() {

test/types/main.ts

@@ -55,6 +55,8 @@ node.getSubscriptionNamesAndTypesByNode(NODE_NAME);
 // $ExpectType NamesAndTypesQueryResult[]
 node.getTopicNamesAndTypes();
 
+// $ExpectType NodeNamesQueryResult[]
+node.getNodeNames();
 
 
 // ---- Publisher ----

types/node.d.ts

@@ -121,6 +121,23 @@ declare module 'rclnodejs' {
   type NamesAndTypesQueryResult = {
     name: string;
     types: Array<string>;
+	}
+
+	/**
+	 * Result of Node.getNodeNames() query
+	 *
+	 * @example
+	 * ```
+	 * [ 
+	 *   { name: 'gazebo',                namespace: '/' },
+	 *   { name: 'robot_state_publisher', namespace: '/' },
+	 *   { name: 'cam2image',             namespace: '/demo' }
+	 * ]
+	 * ```
+	 */
+  type NodeNamesQueryResult = {
+    name: string;
+    namespace: string;
   }
 
 
@@ -308,7 +325,19 @@ declare module 'rclnodejs' {
 		 *        ]
 		 */
     getServiceNamesAndTypes(): Array<NamesAndTypesQueryResult>
-
+
+    /**
+		 * Get the list of nodes discovered by the provided node.
+		 * 
+		 * @returns An array of the names and namespaces.
+		 *        [ 
+		 *          { name: 'gazebo',                namespace: '/' },
+		 *          { name: 'robot_state_publisher', namespace: '/' },
+		 *          { name: 'cam2image',             namespace: '/demo' }
+		 *        ]
+		 */
+    getNodeNames(): Array<NodeNamesQueryResult>;
+
   }