feat: add ros2 bindings (#582)

* feat: add ros2 bindings

* fix(bindings): add bindingVersion to ros2 bindings

* fix: ROS 2 operation binding

* fix: update ROS 2 server binding

* feat: register ROS 2 server binging

* chore: remove extra line from serverBindingsObject

* feat: register ROS 2 operation binding

* chore: remove extra new line from serverBindingsObject

* test: register ROS 2 server and operation bindings

---------

Co-authored-by: Pavel Bodiachevskii <PavelBodyachevskiy@gmail.com>

Author: amparo-siemens

bindings/ros2/0.1.0/operation.json

@@ -0,0 +1,88 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "$id": "http://asyncapi.com/bindings/ros2/0.1.0/operation.json",
+  "description": "This object contains information about the operation representation in ROS 2.",
+  "examples": [
+    {
+      "node": "/turtlesim",
+        "qosPolicies": {
+          "deadline": "-1",
+          "durability": "volatile",
+          "history": "unknown",
+          "leaseDuration": "-1",
+          "lifespan": "-1",
+          "liveliness": "automatic",
+          "reliability": "reliable"
+        },
+        "role": "subscriber"
+      }
+  ],
+  "type": "object",
+  "required": [ "role", "node" ],
+  "properties": {
+    "bindingVersion": {
+      "description": "The version of this binding. If omitted, 'latest' MUST be assumed.",
+      "type": "string",
+      "enum": [ "0.1.0" ]
+    },
+    "node": {
+      "description": "The name of the ROS 2 node that implements this operation.",
+      "type": "string"
+    },
+    "qosPolicies": {
+      "type": "object",
+      "properties": {
+        "deadline": {
+          "description": "The expected maximum amount of time between subsequent messages being published to a topic. -1 means infinite.",
+          "type": "integer"
+        },
+        "durability": {
+          "description": "Persistence specification that determines message availability for late-joining subscribers",
+          "type": "string",
+          "enum": [ "transient_local", "volatile" ]
+        },
+        "history": {
+          "description": "Policy parameter that defines the maximum number of samples maintained in the middleware queue",
+          "type": "string",
+          "enum": [ "keep_last", "keep_all", "unknown" ]
+        },
+        "leaseDuration": {
+          "description": "The maximum period of time a publisher has to indicate that it is alive before the system considers it to have lost liveliness. -1 means infinite.",
+          "type": "integer"
+        },
+        "lifespan": {
+          "description": "The maximum amount of time between the publishing and the reception of a message without the message being considered stale or expired. -1 means infinite.",
+          "type": "integer"
+        },
+        "liveliness": {
+          "description": "Defines the mechanism by which the system monitors and determines the operational status of communication entities within the network.",
+          "type": "string",
+          "enum": [ "automatic", "manual" ]
+        },
+        "reliability": {
+          "description": "Specifies the communication guarantee model that determines whether message delivery confirmation between publisher and subscriber is required.",
+          "type": "string",
+          "enum": [ "best_effort", "realiable" ]
+        }
+      }
+    },
+    "role": {
+      "description": "Specifies the ROS 2 type of the node for this operation.",
+      "type": "string",
+      "enum": [
+        "publisher",
+        "action_client",
+        "service_client",
+        "subscriber",
+        "action_server",
+        "service_server"
+      ]
+    }
+  },
+  "patternProperties": {
+    "^x-[\\w\\d\\.\\x2d_]+$": {
+      "$ref": "http://asyncapi.com/definitions/3.0.0/specificationExtension.json"
+    }
+  },
+  "additionalProperties": false
+}

bindings/ros2/0.1.0/server.json

@@ -0,0 +1,35 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "$id": "http://asyncapi.com/bindings/ros2/0.1.0/server.json",
+  "description": "This object contains information about the server representation in ROS 2.",
+  "examples": [
+    {
+      "domainId": "0",
+      "rmwImplementation": "rmw_fastrtps_cpp"
+    }
+  ],
+  "type": "object",
+  "required": [ "host", "protocol" ],
+  "properties": {
+    "bindingVersion": {
+      "description": "The version of this binding. If omitted, 'latest' MUST be assumed.",
+      "type": "string",
+      "enum": [ "0.1.0" ]
+    },
+    "domainId": {
+      "description": "All ROS 2 nodes use domain ID 0 by default. To prevent interference between different groups of computers running ROS 2 on the same network, a group can be set with a unique domain ID.",
+      "type": "integer",
+      "maximum": 231,
+      "minimum": 0
+    },
+    "rmwImplementation": {
+      "description": "Specifies the ROS 2 middleware implementation to be used. This determines the underlying middleware implementation that handles communication.",
+      "type": "string"
+    }
+  },
+  "patternProperties": {
+    "^x-[\\w\\d\\.\\x2d_]+$": {
+      "$ref": "http://asyncapi.com/definitions/3.0.0/specificationExtension.json"
+    }
+  }
+}

definitions/3.0.0/operationBindingsObject.json

@@ -298,6 +298,41 @@
     },
     "stomp": {},
     "redis": {},
+    "ros2": {
+      "properties": {
+        "bindingVersion": {
+          "enum": ["0.1.0"]
+        }
+        },
+        "allOf": [
+          {
+            "description": "If no bindingVersion specified, use the latest binding",
+            "if": {
+              "not": {
+                "required": [
+                  "bindingVersion"
+                ]
+              }
+            },
+            "then": {
+              "$ref": "http://asyncapi.com/bindings/ros2/0.1.0/operation.json"
+            }
+          },
+          {
+            "if": {
+              "required": [ "bindingVersion" ],
+              "properties": {
+                "bindingVersion": {
+                  "const": "0.1.0"
+                }
+              }
+            },
+            "then": {
+              "$ref": "http://asyncapi.com/bindings/ros2/0.1.0/operation.json"
+            }
+          }
+        ]
+    },
     "ibmmq": {},
     "solace": {
       "properties": {

definitions/3.0.0/serverBindingsObject.json

@@ -149,6 +149,41 @@
     "sqs": {},
     "stomp": {},
     "redis": {},
+    "ros2": {
+      "properties": {
+        "bindingVersion": {
+          "enum": ["0.1.0"]
+        }
+      },
+      "allOf": [
+        {
+          "description": "If no bindingVersion specified, use the latest binding",
+            "if": {
+              "not": {
+                "required": [
+                  "bindingVersion"
+                ]
+              }
+              },
+                "then": {
+                  "$ref": "http://asyncapi.com/bindings/ros2/0.1.0/server.json"
+                }
+              },
+              {
+                "if": {
+                  "required": [ "bindingVersion" ],
+                  "properties": {
+                    "bindingVersion": {
+                      "const": "0.1.0"
+                    }
+                  }
+                },
+                "then": {
+                  "$ref": "http://asyncapi.com/bindings/ros2/0.1.0/server.json"
+                }
+              }
+          ]
+    },
     "ibmmq": {
       "properties": {
         "bindingVersion": {
@@ -284,4 +319,4 @@
   },
   "$schema": "http://json-schema.org/draft-07/schema#",
   "$id": "http://asyncapi.com/definitions/3.0.0/serverBindingsObject.json"
-}
+}

test/ajv-schemes.js

@@ -58,6 +58,9 @@ function bindingSchemes(ajv) {
   ajv.addSchema(require('@bindings/pulsar/0.1.0/channel.json'));
   ajv.addSchema(require('@bindings/pulsar/0.1.0/server.json'));
 
+  ajv.addSchema(require('@bindings/ros2/0.1.0/operation.json'));
+  ajv.addSchema(require('@bindings/ros2/0.1.0/server.json'));
+
   ajv.addSchema(require('@bindings/sns/0.1.0/channel.json'));
   ajv.addSchema(require('@bindings/sns/0.1.0/operation.json'));