[Action] Add ActionEndpointInfo and action graph count APIs

index.js

@@ -52,6 +52,7 @@ import ActionUuid from './lib/action/uuid.js';
 import ClientGoalHandle from './lib/action/client_goal_handle.js';
 import { CancelResponse, GoalResponse } from './lib/action/response.js';
 import ServerGoalHandle from './lib/action/server_goal_handle.js';
+import ActionEndpointInfo from './lib/action/endpoint_info.js';
 import { toJSONSafe, toJSONString } from './lib/message_serialization.js';
 import {
   getActionClientNamesAndTypesByNode,
@@ -295,6 +296,9 @@ let rcl = {
   /** {@link ActionUuid} class */
   ActionUuid: ActionUuid,
 
+  /** {@link ActionEndpointInfo} class */
+  ActionEndpointInfo: ActionEndpointInfo,
+
   /** {@link ClientGoalHandle} class */
   ClientGoalHandle: ClientGoalHandle,
 

lib/action/endpoint_info.js

@@ -0,0 +1,95 @@
+// Copyright (c) 2026, The Robot Web Tools Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * Aggregated endpoint information for one action client or server.
+ */
+class ActionEndpointInfo {
+  /**
+   * @param {object} info - Raw endpoint information from the native layer.
+   * @hideconstructor
+   */
+  constructor(info) {
+    this._goalServiceInfo = info.goal_service_info;
+    this._cancelServiceInfo = info.cancel_service_info;
+    this._resultServiceInfo = info.result_service_info;
+    this._feedbackTopicInfo = info.feedback_topic_info;
+    this._statusTopicInfo = info.status_topic_info;
+  }
+
+  /**
+   * @type {object}
+   */
+  get goalServiceInfo() {
+    return this._goalServiceInfo;
+  }
+
+  /**
+   * @type {object}
+   */
+  get cancelServiceInfo() {
+    return this._cancelServiceInfo;
+  }
+
+  /**
+   * @type {object}
+   */
+  get resultServiceInfo() {
+    return this._resultServiceInfo;
+  }
+
+  /**
+   * @type {object}
+   */
+  get feedbackTopicInfo() {
+    return this._feedbackTopicInfo;
+  }
+
+  /**
+   * @type {object}
+   */
+  get statusTopicInfo() {
+    return this._statusTopicInfo;
+  }
+
+  /**
+   * @type {string}
+   */
+  get nodeName() {
+    return this._goalServiceInfo.node_name;
+  }
+
+  /**
+   * @type {string}
+   */
+  get nodeNamespace() {
+    return this._goalServiceInfo.node_namespace;
+  }
+
+  /**
+   * @type {string}
+   */
+  get actionType() {
+    return this._goalServiceInfo.service_type.replace(/_SendGoal$/, '');
+  }
+
+  /**
+   * @type {number}
+   */
+  get endpointType() {
+    return this._goalServiceInfo.endpoint_type;
+  }
+}
+
+export default ActionEndpointInfo;

lib/node.js

@@ -44,6 +44,7 @@ import Service from './service.js';
 import Subscription from './subscription.js';
 import ObservableSubscription from './observable_subscription.js';
 import MessageInfo from './message_info.js';
+import ActionEndpointInfo from './action/endpoint_info.js';
 import { declareQosParameters, _resolveQoS } from './qos_overriding_options.js';
 import TimeSource from './time_source.js';
 import Timer from './timer.js';
@@ -1511,6 +1512,82 @@ class Node extends rclnodejs.ShadowNode {
     return rclnodejs.getServiceNamesAndTypes(this.handle);
   }
 
+  /**
+   * Return the number of action clients on an action.
+   * @param {string} actionName - The action name to query.
+   * @returns {number|null} The number of action clients, or null when the ROS distro is older than Lyrical.
+   */
+  countActionClients(actionName) {
+    if (typeof rclnodejs.countActionClients !== 'function') {
+      console.warn(
+        'countActionClients is not supported by this version of ROS 2'
+      );
+      return null;
+    }
+    return rclnodejs.countActionClients(
+      this.handle,
+      this._getValidatedActionName(actionName)
+    );
+  }
+
+  /**
+   * Return the number of action servers on an action.
+   * @param {string} actionName - The action name to query.
+   * @returns {number|null} The number of action servers, or null when the ROS distro is older than Lyrical.
+   */
+  countActionServers(actionName) {
+    if (typeof rclnodejs.countActionServers !== 'function') {
+      console.warn(
+        'countActionServers is not supported by this version of ROS 2'
+      );
+      return null;
+    }
+    return rclnodejs.countActionServers(
+      this.handle,
+      this._getValidatedActionName(actionName)
+    );
+  }
+
+  /**
+   * Return endpoint information for action clients on an action.
+   * @param {string} actionName - The action name to query.
+   * @returns {Array<ActionEndpointInfo>|null} The action clients, or null when the ROS distro is older than Rolling.
+   */
+  getActionClientsInfoByAction(actionName) {
+    if (typeof rclnodejs.getActionClientsInfoByAction !== 'function') {
+      console.warn(
+        'getActionClientsInfoByAction is not supported by this version of ROS 2'
+      );
+      return null;
+    }
+    return rclnodejs
+      .getActionClientsInfoByAction(
+        this.handle,
+        this._getValidatedActionName(actionName)
+      )
+      .map((info) => new ActionEndpointInfo(info));
+  }
+
+  /**
+   * Return endpoint information for action servers on an action.
+   * @param {string} actionName - The action name to query.
+   * @returns {Array<ActionEndpointInfo>|null} The action servers, or null when the ROS distro is older than Rolling.
+   */
+  getActionServersInfoByAction(actionName) {
+    if (typeof rclnodejs.getActionServersInfoByAction !== 'function') {
+      console.warn(
+        'getActionServersInfoByAction is not supported by this version of ROS 2'
+      );
+      return null;
+    }
+    return rclnodejs
+      .getActionServersInfoByAction(
+        this.handle,
+        this._getValidatedActionName(actionName)
+      )
+      .map((info) => new ActionEndpointInfo(info));
+  }
+
   /**
    * Return a list of publishers on a given topic.
    *
@@ -2520,6 +2597,17 @@ class Node extends rclnodejs.ShadowNode {
     this.syncHandles();
   }
 
+  // Unlike topic/service queries, the queried action name is not remapped.
+  _getValidatedActionName(actionName) {
+    const fullyQualifiedActionName = rclnodejs.expandTopicName(
+      actionName,
+      this.name(),
+      this.namespace()
+    );
+    validateFullTopicName(fullyQualifiedActionName);
+    return fullyQualifiedActionName;
+  }
+
   _getValidatedTopic(topicName, noDemangle) {
     if (noDemangle) {
       return topicName;

src/rcl_graph_bindings.cpp

@@ -17,6 +17,7 @@
 #include <rcl/error_handling.h>
 #include <rcl/graph.h>
 #include <rcl/rcl.h>
+#include <rcl_action/graph.h>
 
 #include <string>
 
@@ -40,6 +41,12 @@ typedef rcl_ret_t (*rcl_get_info_by_service_func_t)(
     rcl_service_endpoint_info_array_t* info_array);
 #endif  // ROS_VERSION >= 2605
 
+#if ROS_VERSION >= 5000
+typedef rcl_ret_t (*rcl_action_get_info_by_action_func_t)(
+    const rcl_node_t* node, rcutils_allocator_t* allocator,
+    const char* action_name, rcl_action_endpoint_info_array_t* info_array);
+#endif  // ROS_VERSION >= 5000
+
 Napi::Value GetPublisherNamesAndTypesByNode(const Napi::CallbackInfo& info) {
   Napi::Env env = info.Env();
 
@@ -207,6 +214,34 @@ Napi::Value GetServiceNamesAndTypes(const Napi::CallbackInfo& info) {
   return result_list;
 }
 
+#if ROS_VERSION >= 2605
+Napi::Value CountActionClients(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  RclHandle* node_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+  std::string action_name = info[1].As<Napi::String>().Utf8Value();
+  size_t count = 0;
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK, rcl_action_count_clients(node, action_name.c_str(), &count),
+      "Failed to count action clients");
+  return Napi::Number::New(env, count);
+}
+
+Napi::Value CountActionServers(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+  RclHandle* node_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+  std::string action_name = info[1].As<Napi::String>().Utf8Value();
+  size_t count = 0;
+
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK, rcl_action_count_servers(node, action_name.c_str(), &count),
+      "Failed to count action servers");
+  return Napi::Number::New(env, count);
+}
+#endif  // ROS_VERSION >= 2605
+
 Napi::Value GetInfoByTopic(Napi::Env env, rcl_node_t* node,
                            const char* topic_name, bool no_mangle,
                            const char* type,
@@ -324,6 +359,60 @@ Napi::Value GetServersInfoByService(const Napi::CallbackInfo& info) {
 }
 #endif  // ROS_VERSION >= 2605
 
+#if ROS_VERSION >= 5000
+Napi::Value GetInfoByAction(
+    Napi::Env env, rcl_node_t* node, const char* action_name, const char* type,
+    rcl_action_get_info_by_action_func_t rcl_action_get_info_by_action) {
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  rcl_action_endpoint_info_array_t info_array =
+      rcl_action_get_zero_initialized_endpoint_info_array();
+
+  RCPPUTILS_SCOPE_EXIT({
+    rcl_ret_t fini_ret =
+        rcl_action_endpoint_info_array_fini(&info_array, &allocator);
+    if (RCL_RET_OK != fini_ret) {
+      Napi::Error::New(env, rcl_get_error_string().str)
+          .ThrowAsJavaScriptException();
+      rcl_reset_error();
+    }
+  });
+
+  rcl_ret_t ret =
+      rcl_action_get_info_by_action(node, &allocator, action_name, &info_array);
+  if (RCL_RET_OK != ret) {
+    if (RCL_RET_UNSUPPORTED == ret) {
+      Napi::Error::New(
+          env, std::string("Failed to get information by action for ") + type +
+                   ": function not supported by RMW_IMPLEMENTATION")
+          .ThrowAsJavaScriptException();
+      return env.Undefined();
+    }
+    Napi::Error::New(
+        env, std::string("Failed to get information by action for ") + type)
+        .ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
+
+  return ConvertToJSActionEndpointInfoList(env, &info_array);
+}
+
+Napi::Value GetActionClientsInfoByAction(const Napi::CallbackInfo& info) {
+  RclHandle* node_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+  std::string action_name = info[1].As<Napi::String>().Utf8Value();
+  return GetInfoByAction(info.Env(), node, action_name.c_str(), "clients",
+                         rcl_action_get_clients_info_by_action);
+}
+
+Napi::Value GetActionServersInfoByAction(const Napi::CallbackInfo& info) {
+  RclHandle* node_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+  std::string action_name = info[1].As<Napi::String>().Utf8Value();
+  return GetInfoByAction(info.Env(), node, action_name.c_str(), "servers",
+                         rcl_action_get_servers_info_by_action);
+}
+#endif  // ROS_VERSION >= 5000
+
 Napi::Object InitGraphBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("getPublisherNamesAndTypesByNode",
               Napi::Function::New(env, GetPublisherNamesAndTypesByNode));
@@ -342,11 +431,21 @@ Napi::Object InitGraphBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("getSubscriptionsInfoByTopic",
               Napi::Function::New(env, GetSubscriptionsInfoByTopic));
 #if ROS_VERSION >= 2605
+  exports.Set("countActionClients",
+              Napi::Function::New(env, CountActionClients));
+  exports.Set("countActionServers",
+              Napi::Function::New(env, CountActionServers));
   exports.Set("getClientsInfoByService",
               Napi::Function::New(env, GetClientsInfoByService));
   exports.Set("getServersInfoByService",
               Napi::Function::New(env, GetServersInfoByService));
 #endif  // ROS_VERSION >= 2605
+#if ROS_VERSION >= 5000
+  exports.Set("getActionClientsInfoByAction",
+              Napi::Function::New(env, GetActionClientsInfoByAction));
+  exports.Set("getActionServersInfoByAction",
+              Napi::Function::New(env, GetActionServersInfoByAction));
+#endif  // ROS_VERSION >= 5000
   return exports;
 }