[Web runtime] Add HTTP SSE action support (3/3)

.github/workflows/linux-arm64-build-and-test.yml

@@ -60,7 +60,16 @@ jobs:
     - uses: actions/checkout@v7
 
     - name: Setup ROS2
+      id: setup_ros
       if: ${{ matrix.ros_distribution != 'rolling' && matrix.ros_distribution != 'lyrical' }}
+      continue-on-error: true
+      uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+
+    # Retry transient repository/download failures once; a second failure is fatal.
+    - name: Retry ROS2 setup
+      if: ${{ !cancelled() && steps.setup_ros.outcome == 'failure' }}
       uses: ros-tooling/setup-ros@v0.7
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}

.github/workflows/linux-x64-build-and-test.yml

@@ -64,7 +64,16 @@ jobs:
     - uses: actions/checkout@v7
 
     - name: Setup ROS2
+      id: setup_ros
       if: ${{ matrix.ros_distribution != 'rolling' && matrix.ros_distribution != 'lyrical' }}
+      continue-on-error: true
+      uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+
+    # Retry transient repository/download failures once; a second failure is fatal.
+    - name: Retry ROS2 setup
+      if: ${{ !cancelled() && steps.setup_ros.outcome == 'failure' }}
       uses: ros-tooling/setup-ros@v0.7
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}

bin/rclnodejs-web.js

@@ -149,8 +149,8 @@ if (SUBCOMMANDS.has(argv[0])) {
         const httpHost = displayHost(cfg.http.host || cfg.host);
         const httpBase = cfg.http.basePath || cfg.path;
         const httpKinds = cfg.http.sse
-          ? 'call/publish + subscribe (SSE)'
-          : 'call/publish only';
+          ? 'call/publish/action + subscribe (SSE)'
+          : 'call/publish/action';
         process.stdout.write(
           `                  also http://${httpHost}:${httpTransport.port}${httpBase} (${httpKinds})\n`
         );

lib/openapi.js

@@ -172,8 +172,8 @@ function messageSchemaToJsonSchema(schema, components) {
 }
 
 /**
- * Resolve a top-level capability type (message for publish/subscribe,
- * service Request/Response for call) to a JSON Schema, without registering
+ * Resolve a capability payload (message, service Request/Response, or
+ * action Goal/Feedback/Result) to a JSON Schema, without registering
  * it as a component itself (the top-level request/response body is inlined
  * in the operation, only *nested* types become `$ref`d components — this
  * matches typical OpenAPI style for RPC-shaped APIs).
@@ -195,8 +195,8 @@ function topLevelSchema(typeName, subType, components) {
 
 /**
  * Build a full OpenAPI 3.1 document from a capability registry snapshot
- * (`CapabilityRegistry.list()`'s shape: `{call, publish, subscribe}`, each a
- * `{name: typeName}` map).
+ * (`CapabilityRegistry.list()` has call, publish, subscribe, and action
+ * maps from capability names to ROS type names).
  *
  * No `servers` option: it's pure top-level metadata this function never
  * reads while building `paths`, so callers (e.g. the CLI's
@@ -206,7 +206,7 @@ function topLevelSchema(typeName, subType, components) {
  * not the rclnodejs release that generated the document, and there's no
  * source for the former today — so it's a fixed `'0.0.0'` placeholder.
  *
- * @param {{call: object, publish: object, subscribe: object}} capabilities
+ * @param {{call: object, publish: object, subscribe: object, action?: object}} capabilities
  * @param {object} [options]
  * @param {string} [options.title]
  * @param {string} [options.basePath] - default '/capability'
@@ -305,6 +305,92 @@ function buildOpenApiDocument(capabilities, options = {}) {
     };
   }
 
+  for (const [name, typeName] of Object.entries(capabilities.action || {})) {
+    const route = `${basePath}/action${name}`;
+    paths[route] = {
+      post: {
+        summary: `Send a ROS 2 action goal to ${name}`,
+        operationId: `action_${sanitizeName(name)}`,
+        'x-ros-capability': { kind: 'action', name, type: typeName },
+        description:
+          'POST a JSON goal to receive accepted and feedback events, then a ' +
+          'terminal result or error event. Result data contains status and payload. ' +
+          'Use fetch() or curl -N; EventSource does not support POST. ' +
+          'Use WebSocket for cancellation; disconnecting does not cancel the goal.',
+        requestBody: {
+          required: true,
+          content: {
+            'application/json': {
+              schema: topLevelSchema(typeName, 'Goal', components),
+            },
+          },
+        },
+        responses: {
+          200: {
+            description: `Server-Sent Events stream for ${typeName}`,
+            content: {
+              'text/event-stream': {
+                schema: {
+                  description:
+                    'JSON data for each SSE event; titles name the event.',
+                  anyOf: [
+                    {
+                      title: 'accepted',
+                      type: 'object',
+                      properties: { capability: { type: 'string' } },
+                      required: ['capability'],
+                    },
+                    {
+                      title: 'feedback',
+                      ...topLevelSchema(typeName, 'Feedback', components),
+                    },
+                    {
+                      title: 'result',
+                      type: 'object',
+                      properties: {
+                        status: {
+                          type: 'string',
+                          enum: ['succeeded', 'canceled', 'aborted', 'unknown'],
+                        },
+                        payload: topLevelSchema(typeName, 'Result', components),
+                      },
+                      required: ['status', 'payload'],
+                    },
+                    {
+                      title: 'error',
+                      type: 'object',
+                      properties: {
+                        error: { type: 'string' },
+                        code: { type: 'string' },
+                      },
+                      required: ['error', 'code'],
+                    },
+                  ],
+                },
+              },
+            },
+          },
+          404: notExposedResponse(),
+          409: {
+            description: 'Action goal rejected before streaming',
+            content: {
+              'application/json': {
+                schema: {
+                  type: 'object',
+                  properties: {
+                    ok: { type: 'boolean', const: false },
+                    error: { type: 'string' },
+                    code: { type: 'string', const: 'goal_rejected' },
+                  },
+                },
+              },
+            },
+          },
+        },
+      },
+    };
+  }
+
   return {
     openapi: '3.1.0',
     info: { title, version: '0.0.0' },