RobotWebTools / rclnodejs / 34552620758

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[Web runtime] Add WebSocket action support (2/3) (#1593)

This PR adds ROS 2 **action** support to the `rclnodejs/web` WebSocket SDK and its type surface, enabling browser/runtime clients to send goals, receive feedback, await results, and request cancellation via the runtime’s action capability dispatch.

**Changes:**
- Support typed goal submission through `RosClient.action()`, deliver feedback through `onFeedback`, and return an action handle after goal acceptance with a result promise and per-goal cancellation.
- Expose read-only terminal status so callers can distinguish `succeeded`, `canceled`, `aborted`, and `unknown` outcomes without changing result payloads. Status remains undefined until a terminal response arrives.
- Support cancellation requests through `cancel()`, resolving to `undefined` when accepted and propagating rejection errors to match the `Promise<void>` contract.
- Accept null and undefined action options, reject invalid feedback callbacks before networking, and isolate exceptions thrown by valid callbacks so result delivery continues.
- Reject actions during and after client closure, including clients whose lazy WebSocket has not opened. Clear pending action state on connection loss and avoid resubmitting goals after reconnection.
- Map native numeric typed arrays to JSON number arrays and BigInt typed arrays to encoded string arrays in the public wire types.
- Add runtime and TypeScript regression coverage for goal submission, feedback, cancellation, terminal status, connection lifecycle, invalid options, and typed goal validation.

Fix: #1579

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