Disable GetTimerNextCallTime() for ROS2 <= humble

Author: minggangw

lib/timer.js

@@ -90,9 +90,14 @@ class Timer {
 
   /**
    * Get the absolute time in nanoseconds when the next callback is due.
+   * Note: Only available on ROS2 distributions after Humble.
    * @return {bigint | null} - The next call time in nanoseconds, or null if the timer is canceled.
+   *   Returns undefined if not supported on current ROS2 distribution.
    */
   getNextCallTime() {
+    if (typeof rclnodejs.getTimerNextCallTime !== 'function') {
+      return undefined;
+    }
     return rclnodejs.getTimerNextCallTime(this._handle);
   }
 

src/rcl_timer_bindings.cpp

@@ -257,6 +257,7 @@ Napi::Value GetTimerPeriod(const Napi::CallbackInfo& info) {
   return Napi::BigInt::New(env, period_nsec);
 }
 
+#if ROS_VERSION > 2205  // 2205 == Humble
 Napi::Value GetTimerNextCallTime(const Napi::CallbackInfo& info) {
   Napi::Env env = info.Env();
   RclHandle* timer_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
@@ -274,6 +275,7 @@ Napi::Value GetTimerNextCallTime(const Napi::CallbackInfo& info) {
     return env.Undefined();
   }
 }
+#endif
 
 #if ROS_VERSION > 2205  // 2205 == Humble
 Napi::Value CallTimerWithInfo(const Napi::CallbackInfo& info) {
@@ -362,9 +364,9 @@ Napi::Object InitTimerBindings(Napi::Env env, Napi::Object exports) {
               Napi::Function::New(env, TimerGetTimeUntilNextCall));
   exports.Set("changeTimerPeriod", Napi::Function::New(env, ChangeTimerPeriod));
   exports.Set("getTimerPeriod", Napi::Function::New(env, GetTimerPeriod));
+#if ROS_VERSION > 2205  // 2205 == Humble
   exports.Set("getTimerNextCallTime",
               Napi::Function::New(env, GetTimerNextCallTime));
-#if ROS_VERSION > 2205  // 2205 == Humble
   exports.Set("setTimerOnResetCallback",
               Napi::Function::New(env, SetTimerOnResetCallback));
   exports.Set("clearTimerOnResetCallback",

test/test-timer.js

@@ -140,6 +140,10 @@ describe('rclnodejs Timer class testing', function () {
     });
 
     it('timer.getNextCallTime', function (done) {
+      // Skip test if ROS2 version is Humble or earlier (not supported)
+      if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
+        this.skip();
+      }
       var timer = node.createTimer(TIMER_INTERVAL, function () {
         var nextCallTime = timer.getNextCallTime();
         assert.deepStrictEqual(typeof nextCallTime, 'bigint');