Add support check for content filter feature in subscription

lib/subscription.js

@@ -144,6 +144,14 @@ class Subscription extends Entity {
     return this._serializationMode;
   }
 
+  /**
+   * Check if content filtering is supported for this subscription.
+   * @returns {boolean} True if the subscription instance supports content filtering; otherwise false.
+   */
+  isContentFilterSupported() {
+    return rclnodejs.isContentFilterSupported(this.handle);
+  }
+
   /**
    * Test if the RMW supports content-filtered topics and that this subscription
    * has an active wellformed content-filter.

rosidl_parser/parser.py

@@ -47,12 +47,11 @@ def get_json_object_from_msg_spec_object(msg_spec_object):
 
 if __name__ == '__main__':
     if len(sys.argv) < 4:
-        print('Usage: {} <command> <packageName> <filePath>'.format(sys.argv[0]), file=sys.stderr)
+        print('Wrong number of argments')
         sys.exit(1)
     try:
         parser_method = getattr(parser, sys.argv[1])
         spec = parser_method(sys.argv[2], sys.argv[3])
-
         if sys.argv[1] == 'parse_message_file':
             json_obj = get_json_object_from_msg_spec_object(spec)
         elif sys.argv[1] == 'parse_service_file':

src/rcl_subscription_bindings.cpp

@@ -264,6 +264,18 @@ Napi::Value GetSubscriptionTopic(const Napi::CallbackInfo& info) {
   return Napi::String::New(env, topic);
 }
 
+Napi::Value IsContentFilterSupported(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* subscription_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_subscription_t* subscription =
+      reinterpret_cast<rcl_subscription_t*>(subscription_handle->ptr());
+
+  bool is_supported = rcl_subscription_is_cft_supported(subscription);
+  return Napi::Boolean::New(env, is_supported);
+}
+
 Napi::Value HasContentFilter(const Napi::CallbackInfo& info) {
   Napi::Env env = info.Env();
 
@@ -476,6 +488,8 @@ Napi::Object InitSubscriptionBindings(Napi::Env env, Napi::Object exports) {
   exports.Set("rclTakeRaw", Napi::Function::New(env, RclTakeRaw));
   exports.Set("getSubscriptionTopic",
               Napi::Function::New(env, GetSubscriptionTopic));
+  exports.Set("isContentFilterSupported",
+              Napi::Function::New(env, IsContentFilterSupported));
   exports.Set("hasContentFilter", Napi::Function::New(env, HasContentFilter));
   exports.Set("setContentFilter", Napi::Function::New(env, SetContentFilter));
   exports.Set("getContentFilter", Napi::Function::New(env, GetContentFilter));

test/test-subscription-content-filter.js

@@ -480,3 +480,35 @@ describe('subscription content-filtering', function () {
     done();
   });
 });
+
+describe('subscription isContentFilterSupported', function () {
+  this.timeout(30 * 1000);
+
+  beforeEach(async function () {
+    await rclnodejs.init();
+    this.node = new Node('cft_support_test_node');
+  });
+
+  afterEach(function () {
+    this.node.destroy();
+    rclnodejs.shutdown();
+  });
+
+  it('isContentFilterSupported returns boolean matching RMW capability', function (done) {
+    const typeclass = 'std_msgs/msg/Int16';
+    const subscription = this.node.createSubscription(
+      typeclass,
+      TOPIC,
+      (msg) => {}
+    );
+
+    const supported = subscription.isContentFilterSupported();
+    assert.strictEqual(typeof supported, 'boolean');
+
+    // Validate against known RMW capabilities
+    const expectedSupported = isContentFilteringSupported();
+    assert.strictEqual(supported, expectedSupported);
+
+    done();
+  });
+});

test/types/index.test-d.ts

@@ -245,6 +245,7 @@ expectType<rclnodejs.SubscriptionWithRawMessageCallback>(rawMessageCallback);
 
 expectType<string>(subscription.topic);
 expectType<boolean>(subscription.isDestroyed());
+expectType<boolean>(subscription.isContentFilterSupported());
 expectType<boolean>(subscription.setContentFilter(contentFilter));
 expectType<rclnodejs.SubscriptionContentFilter | undefined>(
   subscription.getContentFilter()

types/subscription.d.ts

@@ -51,6 +51,12 @@ declare module 'rclnodejs' {
      */
     readonly isRaw: boolean;
 
+    /**
+     * Check if content filtering is supported for this subscription.
+     * @returns True if the subscription instance supports content filtering; otherwise false.
+     */
+    isContentFilterSupported(): boolean;
+
     /**
      * Test if the RMW supports content-filtered topics and that this subscription
      * is configured with a well formed content-filter.