[Web runtime] Add OpenAPI 3.1 export from the capability registry - #1565
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minggangw wants to merge 8 commits into
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[Web runtime] Add OpenAPI 3.1 export from the capability registry#1565minggangw wants to merge 8 commits into
minggangw wants to merge 8 commits into
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Pull request overview
Adds an OpenAPI 3.1 export path for the rclnodejs Web Runtime capability registry, including a new CLI subcommand to emit the document without starting the runtime.
Changes:
- Introduces
lib/openapi.jsto map capability registry entries + rosidl introspection into an OpenAPI 3.1 document with shared$refcomponents. - Extends
bin/rclnodejs-web.jswith anopenapisubcommand that prints the document and derivesserversfrom HTTP config. - Adds
test/test-openapi.jscoverage for the schema mapper, document assembly, and CLI behavior; updates CLI help text.
Reviewed changes
Copilot reviewed 3 out of 4 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
lib/openapi.js |
New OpenAPI/JSON Schema generator driven by message introspection and capability registry snapshots. |
bin/rclnodejs-web.js |
Adds openapi subcommand to output OpenAPI JSON without starting transports / ROS init. |
lib/runtime/cli-config.js |
Updates --help text to document the new openapi subcommand. |
test/test-openapi.js |
Adds tests for schema mapping, document structure, server derivation, and CLI subcommand behavior. |
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| if (INT64_TYPES.has(type)) { | ||
| // See the docstring above — deliberately string, not integer. | ||
| return { | ||
| type: 'string', | ||
| format: 'int64', | ||
| pattern: '^-?[0-9]+n$', | ||
| description: `ROS 2 ${type}, transmitted as a BigInt-string (e.g. "42n") for precision-safety.`, | ||
| }; | ||
| } |
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| function topLevelSchema(typeName, subType, components, seen) { | ||
| const typeClass = interfaceLoader.loadInterface(typeName); | ||
| const resolved = subType ? typeClass[subType] : typeClass; | ||
| const schema = getMessageSchema(resolved); | ||
| if (!schema) { | ||
| return { type: 'object', description: `Could not resolve ${typeName}` }; | ||
| } | ||
| return messageSchemaToJsonSchema(schema, components, seen); | ||
| } |
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| let stdout = ''; | ||
| let stderr = ''; | ||
| p.stdout.on('data', (d) => (stdout += d.toString())); | ||
| p.stderr.on('data', (d) => (stderr += d.toString())); | ||
| p.on('exit', (code) => resolve({ code, stdout, stderr })); | ||
| p.on('error', reject); |
|
coverage: 91.112% (+0.009%) from 91.103% — minggangw:fix-1564 into RobotWebTools:develop |
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| function buildOpenApiDocument(capabilities, options = {}) { | ||
| const { title = 'rclnodejs/web capability API', basePath = '/capability' } = | ||
| options; |
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| responses: { | ||
| 200: { | ||
| description: `Server-Sent Events stream of ${typeName} messages`, | ||
| content: { | ||
| 'text/event-stream': { | ||
| schema: topLevelSchema(typeName, null, components, seen), | ||
| }, | ||
| }, | ||
| }, | ||
| 404: notExposedResponse(), | ||
| }, |
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lib/openapi.js: mapsCapabilityRegistry.list()and rosidl introspection into an OpenAPI 3.1 document viabuildOpenApiDocument(capabilities, {title, basePath}). CLI-only, not part of therclnodejs/web/serverAPI; lives inlib/, notlib/runtime/, since it has no runtime/transport dependency.int64/uint64as BigInt-strings with distinct signed/unsigned patterns, both using a shared"42n"example (avoids API explorers synthesizing an arbitrarily long digit string from the unbounded pattern); bounded/fixed-size arrays; de-duplicated$refcomponents for nested types; unresolvable types degrade to a placeholder instead of aborting the document.rclnodejs-web openapi [config.json]CLI subcommand: resolvesexposecapabilities to schemas and prints the document to stdout without starting any transport or callingrclnodejs.init().serversand routebasePathfrom the resolved HTTP config, matching the server transport's own fallback and its wildcard-to-localhosthost display, so generated documents always describe the routes the runtime actually serves and honor a configured--http-host.GET /capability/subscribe/<name>astext/event-stream— noted as not testable via "Try it out" in API explorers, since the response never completes.--helpusage text with the new subcommand.test/test-openapi.jscovering the schema mapper, document assembly, and CLI behavior.Fix: #1564