Expose action graph functions as Node class methods.

rclpy/rclpy/action/__init__.py

@@ -13,6 +13,11 @@
 # limitations under the License.
 
 from .client import ActionClient as ActionClient  # noqa: F401
+# The following graph functions are deprecated.
+# Use the corresponding methods on the Node class instead:
+#   - node.get_action_client_names_and_types_by_node()
+#   - node.get_action_server_names_and_types_by_node()
+#   - node.get_action_names_and_types()
 from .graph import (  # noqa: F401
     get_action_client_names_and_types_by_node as get_action_client_names_and_types_by_node
 )

rclpy/rclpy/action/graph.py

@@ -14,7 +14,9 @@
 
 from typing import List
 from typing import Tuple
+import warnings
 
+from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.node import Node
 
 
@@ -26,16 +28,25 @@ def get_action_client_names_and_types_by_node(
     """
     Get a list of action names and types for action clients associated with a node.
 
+    .. deprecated:: (upcoming release)
+        Use :meth:`rclpy.node.Node.get_action_client_names_and_types_by_node` instead.
+
     :param node: The node used for discovery.
     :param remote_node_name: The name of a remote node to get action clients for.
     :param node_namespace: Namespace of the remote node.
     :return: List of tuples.
       The first element of each tuple is the action name and the second element is a list of
       action types.
     """
+    warnings.warn(
+        'rclpy.action.get_action_client_names_and_types_by_node() is deprecated. '
+        'Use rclpy.node.Node.get_action_client_names_and_types_by_node() instead.',
+        DeprecationWarning,
+        stacklevel=2
+    )
     with node.handle:
-        return node.handle.get_action_client_names_and_types_by_node(
-            remote_node_name, remote_node_namespace)
+        return _rclpy.rclpy_get_action_client_names_and_types_by_node(
+            node.handle, remote_node_name, remote_node_namespace)
 
 
 def get_action_server_names_and_types_by_node(
@@ -46,26 +57,44 @@ def get_action_server_names_and_types_by_node(
     """
     Get a list of action names and types for action servers associated with a node.
 
+    .. deprecated:: (upcoming release)
+        Use :meth:`rclpy.node.Node.get_action_server_names_and_types_by_node` instead.
+
     :param node: The node used for discovery.
     :param remote_node_name: The name of a remote node to get action servers for.
     :param node_namespace: Namespace of the remote node.
     :return: List of tuples.
       The first element of each tuple is the action name and the second element is a list of
       action types.
     """
+    warnings.warn(
+        'rclpy.action.get_action_server_names_and_types_by_node() is deprecated. '
+        'Use rclpy.node.Node.get_action_server_names_and_types_by_node() instead.',
+        DeprecationWarning,
+        stacklevel=2
+    )
     with node.handle:
-        return node.handle.get_action_server_names_and_types_by_node(
-            remote_node_name, remote_node_namespace)
+        return _rclpy.rclpy_get_action_server_names_and_types_by_node(
+            node.handle, remote_node_name, remote_node_namespace)
 
 
 def get_action_names_and_types(node: Node) -> List[Tuple[str, List[str]]]:
     """
     Get a list of action names and types.
 
+    .. deprecated:: (upcoming release)
+        Use :meth:`rclpy.node.Node.get_action_names_and_types` instead.
+
     :param node: The node used for discovery.
     :return: List of action names and types in the ROS graph as tuples.
       The first element of each tuple is the action name and the second element is a list of
       action types.
     """
+    warnings.warn(
+        'rclpy.action.get_action_names_and_types() is deprecated. '
+        'Use rclpy.node.Node.get_action_names_and_types() instead.',
+        DeprecationWarning,
+        stacklevel=2
+    )
     with node.handle:
-        return node.handle.get_action_names_and_types()
+        return _rclpy.rclpy_get_action_names_and_types(node.handle)

rclpy/rclpy/impl/_rclpy_pybind11.pyi

@@ -801,6 +801,22 @@ def rclpy_get_client_names_and_types_by_node(node: Node, node_name: str, node_na
     """Get service names and types for which a remote node has servers."""
 
 
+def rclpy_get_action_client_names_and_types_by_node(node: Node, node_name: str,
+                                                     node_namespace: str
+                                                     ) -> list[tuple[str, list[str]]]:
+    """Get action client names and types by node."""
+
+
+def rclpy_get_action_server_names_and_types_by_node(node: Node, node_name: str,
+                                                     node_namespace: str
+                                                     ) -> list[tuple[str, list[str]]]:
+    """Get action server names and types by node."""
+
+
+def rclpy_get_action_names_and_types(node: Node) -> list[tuple[str, list[str]]]:
+    """Get all action names and types in the ROS graph."""
+
+
 def rclpy_serialize(pymsg: Msg, py_msg_type: type[Msg]) -> bytes:
     """Serialize a ROS message."""
 

rclpy/rclpy/node.py

@@ -2142,6 +2142,57 @@ def get_client_names_and_types_by_node(
             return _rclpy.rclpy_get_client_names_and_types_by_node(
                 self.handle, node_name, node_namespace)
 
+    def get_action_client_names_and_types_by_node(
+        self,
+        node_name: str,
+        node_namespace: str
+    ) -> List[Tuple[str, List[str]]]:
+        """
+        Get a list of action names and types for action clients associated with a remote node.
+
+        :param node_name: Name of a remote node to get action clients for.
+        :param node_namespace: Namespace of the remote node.
+        :return: List of tuples.
+          The first element of each tuple is the action name and the second element is a list of
+          action types.
+        :raise NodeNameNonExistentError: If the node wasn't found.
+        :raise RuntimeError: Unexpected failure.
+        """
+        with self.handle:
+            return _rclpy.rclpy_get_action_client_names_and_types_by_node(
+                self.handle, node_name, node_namespace)
+
+    def get_action_server_names_and_types_by_node(
+        self,
+        node_name: str,
+        node_namespace: str
+    ) -> List[Tuple[str, List[str]]]:
+        """
+        Get a list of action names and types for action servers associated with a remote node.
+
+        :param node_name: Name of a remote node to get action servers for.
+        :param node_namespace: Namespace of the remote node.
+        :return: List of tuples.
+          The first element of each tuple is the action name and the second element is a list of
+          action types.
+        :raise NodeNameNonExistentError: If the node wasn't found.
+        :raise RuntimeError: Unexpected failure.
+        """
+        with self.handle:
+            return _rclpy.rclpy_get_action_server_names_and_types_by_node(
+                self.handle, node_name, node_namespace)
+
+    def get_action_names_and_types(self) -> List[Tuple[str, List[str]]]:
+        """
+        Get a list of action names and types in the ROS graph.
+
+        :return: List of tuples.
+          The first element of each tuple is the action name and the second element is a list of
+          action types.
+        """
+        with self.handle:
+            return _rclpy.rclpy_get_action_names_and_types(self.handle)
+
     def get_topic_names_and_types(self, no_demangle: bool = False) -> List[Tuple[str, List[str]]]:
         """
         Get a list of discovered topic names and types.

rclpy/src/rclpy/_rclpy_pybind11.cpp

@@ -221,7 +221,18 @@ PYBIND11_MODULE(_rclpy_pybind11, m) {
     "rclpy_get_client_names_and_types_by_node",
     &rclpy::graph_get_client_names_and_types_by_node,
     "Get service names and types for which a remote node has clients.");
-
+  m.def(
+    "rclpy_get_action_client_names_and_types_by_node",
+    &rclpy::graph_get_action_client_names_and_types_by_node,
+    "Get action client names and types by node.");
+  m.def(
+    "rclpy_get_action_server_names_and_types_by_node",
+    &rclpy::graph_get_action_server_names_and_types_by_node,
+    "Get action server names and types by node.");
+  m.def(
+    "rclpy_get_action_names_and_types",
+    &rclpy::graph_get_action_names_and_types,
+    "Get all action names and types in the ROS graph.");
   m.def(
     "rclpy_serialize", &rclpy::serialize,
     "Serialize a ROS message.");

rclpy/src/rclpy/graph.cpp

@@ -17,6 +17,7 @@
 #include <rcl/allocator.h>
 #include <rcl/error_handling.h>
 #include <rcl/graph.h>
+#include <rcl_action/graph.h>
 #include <rcutils/error_handling.h>
 
 #include <string>
@@ -343,4 +344,94 @@ graph_get_servers_info_by_service(
     rcl_get_servers_info_by_service);
 }
 
+py::list
+graph_get_action_client_names_and_types_by_node(
+  Node & node, std::string node_name, std::string node_namespace)
+{
+  rcl_names_and_types_t action_names_and_types = rcl_get_zero_initialized_names_and_types();
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_ret_t ret = rcl_action_get_client_names_and_types_by_node(
+    node.rcl_ptr(), &allocator, node_name.c_str(), node_namespace.c_str(),
+    &action_names_and_types);
+  if (RCL_RET_OK != ret) {
+    if (RCL_RET_NODE_NAME_NON_EXISTENT == ret) {
+      throw NodeNameNonExistentError(
+              "cannot get action client names and types for nonexistent node");
+    }
+    throw RCLError("failed to get action client names and types");
+  }
+  RCPPUTILS_SCOPE_EXIT(
+    {
+      ret = rcl_names_and_types_fini(&action_names_and_types);
+      if (RCL_RET_OK != ret) {
+        RCUTILS_SAFE_FWRITE_TO_STDERR(
+          "[rclpy|" RCUTILS_STRINGIFY(__FILE__) ":" RCUTILS_STRINGIFY(__LINE__) "]: "
+          "failed to fini action client names and types during error handling: ");
+        RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
+        RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
+        rcl_reset_error();
+      }
+    });
+
+  return convert_to_py_names_and_types(&action_names_and_types);
+}
+
+py::list
+graph_get_action_server_names_and_types_by_node(
+  Node & node, std::string node_name, std::string node_namespace)
+{
+  rcl_names_and_types_t action_names_and_types = rcl_get_zero_initialized_names_and_types();
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_ret_t ret = rcl_action_get_server_names_and_types_by_node(
+    node.rcl_ptr(), &allocator, node_name.c_str(), node_namespace.c_str(),
+    &action_names_and_types);
+  if (RCL_RET_OK != ret) {
+    if (RCL_RET_NODE_NAME_NON_EXISTENT == ret) {
+      throw NodeNameNonExistentError(
+              "cannot get action server names and types for nonexistent node");
+    }
+    throw RCLError("failed to get action server names and types");
+  }
+  RCPPUTILS_SCOPE_EXIT(
+    {
+      ret = rcl_names_and_types_fini(&action_names_and_types);
+      if (RCL_RET_OK != ret) {
+        RCUTILS_SAFE_FWRITE_TO_STDERR(
+          "[rclpy|" RCUTILS_STRINGIFY(__FILE__) ":" RCUTILS_STRINGIFY(__LINE__) "]: "
+          "failed to fini action server names and types during error handling: ");
+        RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
+        RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
+        rcl_reset_error();
+      }
+    });
+
+  return convert_to_py_names_and_types(&action_names_and_types);
+}
+
+py::list
+graph_get_action_names_and_types(Node & node)
+{
+  rcl_names_and_types_t action_names_and_types = rcl_get_zero_initialized_names_and_types();
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_ret_t ret = rcl_action_get_names_and_types(
+    node.rcl_ptr(), &allocator, &action_names_and_types);
+  if (RCL_RET_OK != ret) {
+    throw RCLError("failed to get action names and types");
+  }
+  RCPPUTILS_SCOPE_EXIT(
+    {
+      ret = rcl_names_and_types_fini(&action_names_and_types);
+      if (RCL_RET_OK != ret) {
+        RCUTILS_SAFE_FWRITE_TO_STDERR(
+          "[rclpy|" RCUTILS_STRINGIFY(__FILE__) ":" RCUTILS_STRINGIFY(__LINE__) "]: "
+          "failed to fini action names and types during error handling: ");
+        RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
+        RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
+        rcl_reset_error();
+      }
+    });
+
+  return convert_to_py_names_and_types(&action_names_and_types);
+}
+
 }  // namespace rclpy

rclpy/src/rclpy/graph.hpp

@@ -200,6 +200,53 @@ py::list
 graph_get_servers_info_by_service(
   Node & node, const char * service_name, bool no_mangle);
 
+/// Get action client names and types by node.
+/**
+ * Raises NodeNameNonExistentError if the remote node was not found
+ * Raises RCLError if there is an rcl error
+ *
+ * \param[in] node Node to get action client names and types
+ * \param[in] node_name Name of the remote node to query.
+ * \param[in] node_namespace Namespace of the remote node to query.
+ * \return List of tuples, where the first element of each tuple is the action
+ *   name (string) and the second element is a list of action types (list of
+ *   strings).
+ * \see rcl_action_get_client_names_and_types_by_node
+ */
+py::list
+graph_get_action_client_names_and_types_by_node(
+  Node & node, std::string node_name, std::string node_namespace);
+
+/// Get action server names and types by node.
+/**
+ * Raises NodeNameNonExistentError if the remote node was not found
+ * Raises RCLError if there is an rcl error
+ *
+ * \param[in] node Node to get action server names and types
+ * \param[in] node_name Name of the remote node to query.
+ * \param[in] node_namespace Namespace of the remote node to query.
+ * \return List of tuples, where the first element of each tuple is the action
+ *   name (string) and the second element is a list of action types (list of
+ *   strings).
+ * \see rcl_action_get_server_names_and_types_by_node
+ */
+py::list
+graph_get_action_server_names_and_types_by_node(
+  Node & node, std::string node_name, std::string node_namespace);
+
+/// Get all action names and types in the ROS graph.
+/**
+ * Raises RCLError if there is an rcl error
+ *
+ * \param[in] node Node to get action names and types
+ * \return List of tuples, where the first element of each tuple is the action
+ *   name (string) and the second element is a list of action types (list of
+ *   strings).
+ * \see rcl_action_get_names_and_types
+ */
+py::list
+graph_get_action_names_and_types(Node & node);
+
 }  // namespace rclpy
 
 #endif  // RCLPY__GRAPH_HPP_

rclpy/src/rclpy/node.cpp

@@ -535,6 +535,7 @@ py::list
 Node::get_action_client_names_and_types_by_node(
   const char * remote_node_name, const char * remote_node_namespace)
 {
+  // Deprecated: Use _rclpy.rclpy_get_action_client_names_and_types_by_node function instead
   rcl_names_and_types_t names_and_types = rcl_get_zero_initialized_names_and_types();
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_ret_t ret = rcl_action_get_client_names_and_types_by_node(
@@ -554,6 +555,7 @@ py::list
 Node::get_action_server_names_and_types_by_node(
   const char * remote_node_name, const char * remote_node_namespace)
 {
+  // Deprecated: Use _rclpy.rclpy_get_action_server_names_and_types_by_node function instead
   rcl_names_and_types_t names_and_types = rcl_get_zero_initialized_names_and_types();
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_ret_t ret = rcl_action_get_server_names_and_types_by_node(
@@ -572,6 +574,7 @@ Node::get_action_server_names_and_types_by_node(
 py::list
 Node::get_action_names_and_types()
 {
+  // Deprecated: Use _rclpy.rclpy_get_action_names_and_types function instead
   rcl_names_and_types_t names_and_types = rcl_get_zero_initialized_names_and_types();
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_ret_t ret = rcl_action_get_names_and_types(rcl_node_.get(), &allocator, &names_and_types);