Fix on demand default arrays + support for Node 4.5 (#40)

- Fixes arrays for complex subtypes for on-demand messages
- Added babel prepublish script to support Node 4.5
- Added test cases for on-the-fly message definitions
- Fixed a bug in fixed-size on-the-fly array serialization

Author: chfritz

package.json

@@ -2,7 +2,7 @@
   "name": "rosnodejs",
   "version": "1.0.3",
   "description": "Native ROS for nodejs",
-  "main": "index.js",
+  "main": "dist/index.js",
   "keywords": [
     "ros"
   ],
@@ -11,7 +11,9 @@
     "gennodejsTest": "mocha test/gennodejsTest.js",
     "stressTest": "mocha test/stress.js",
     "flatten": "node tools/flatten.js",
-    "generate": "node tools/generateMessages.js"
+    "generate": "node tools/generateMessages.js",
+    "compile": "babel --presets es2015 index.js -d dist/ && for dir in utils utils/messageGeneration utils/log lib tools test examples; do babel --presets es2015 $dir -d dist/$dir; done",
+    "prepublish": "npm run compile"
   },
   "author": "chris smith",
   "license": "Apache-2.0",
@@ -21,15 +23,17 @@
   },
   "devDependencies": {
     "chai": "^3.5.0",
-    "mocha": "^2.4.5"
+    "mocha": "^2.4.5",
+    "babel-cli": "^6.18.0",
+    "babel-preset-es2015": "^6.18.0"
   },
   "dependencies": {
     "argparse": "1.0.7",
     "async": "2.0.1",
     "bunyan": "1.8.1",
     "md5": "2.1.0",
     "moment": "2.12.0",
-    "ros_msg_utils": "RethinkRobotics-opensource/ros_msg_utils#v1.0.1",
+    "ros_msg_utils": "1.0.2",
     "walker": "1.0.7",
     "xmlrpc": "chfritz/node-xmlrpc"
   }

test/directory.js

@@ -2,3 +2,4 @@ require('./DeserializeStream.js');
 require('./SpinnerTest.js');
 require('./xmlrpcTest.js');
 require('./Log.js');
+require('./onTheFly.js');

test/onTheFly.js

@@ -0,0 +1,40 @@
+'use strict'
+
+const chai = require('chai');
+const expect = chai.expect;
+let rosnodejs = require('../index.js');
+
+rosnodejs.initNode('/my_node', { onTheFly: true})
+  .then((rosNode) => {
+
+    const geometry_msgs = rosnodejs.require('geometry_msgs').msg;
+    const msg = new geometry_msgs.PoseWithCovariance({
+        pose: {
+          position: {x:0, y:0, z:0},
+          orientation: {w:1, x:0, y:0, z:0}
+        },
+        covariance: [
+          0,0,0,0,0,0.123,
+          0,2,0,0,0,0,
+          0,0,4,0,0,0,
+          0,0,0,6,0,0,
+          0,0,0,0,8,0,
+          0.123,0,0,0,0,0.654321654321
+        ]
+      });
+
+    describe('OnTheFly', () => {
+
+        it('serialize/deserialize', (done) => {
+            const size = geometry_msgs.PoseWithCovariance.getMessageSize(msg);
+            const buffer = new Buffer(size);
+            geometry_msgs.PoseWithCovariance.serialize(msg, buffer, 0);
+
+            const read = geometry_msgs.PoseWithCovariance.deserialize(buffer);
+            expect(read.covariance.length == msg.covariance.length
+              && read.covariance.every((v,i)=> v === msg.covariance[i])).to.be.true;
+
+            done();
+          });
+      });
+  });

utils/messageGeneration/fields.js

@@ -72,9 +72,17 @@ fields.isPrimitive = function(fieldType) {
   return (fields.primitiveTypes.indexOf(fieldType) >= 0);
 };
 
-var isArrayRegex = /\[*\]$/;
-fields.isArray = function(fieldType) {
-  return (fieldType.match(isArrayRegex) !== null);
+var isArrayRegex = /\[(\d*)\]$/;
+fields.isArray = function(fieldType, details) {
+  var match = fieldType.match(isArrayRegex);
+  if (match) {
+    if (match[1] && details) {
+      details.length = match[1];
+    }
+    return true;
+  } else {
+    return false;
+  }
 };
 
 fields.isMessage = function(fieldType) {

utils/messageGeneration/messages.js

@@ -196,12 +196,12 @@ function getMessageFromFile(messageType, filePath, type, callback) {
         callback(error);
       } else {
         if (type == "msg") {
-          message = buildMessageClass(details);
+          var message = buildMessageClass(details);
           setMessageInRegistry(messageType, message, type);
           callback(null, message);
         } else if (type == "srv") {
-          request = buildMessageClass(details.request);
-          response = buildMessageClass(details.response);
+          var request = buildMessageClass(details.request);
+          var response = buildMessageClass(details.response);
           setMessageInRegistry(messageType, request, type, "Request");
           setMessageInRegistry(messageType, response, type, "Response");
           setMessageInRegistry(messageType, () => {return request.md5sum(); }, type, 'md5sum');
@@ -461,38 +461,6 @@ function camelCase(underscoreWord, lowerCaseFirstLetter) {
   return camelCaseWord;
 }
 
-function buildValidator (details) {
-
-  function validator (candidate, strict) {
-    return Object.keys(candidate).every(function(property) {
-      var valid = true;
-      var exists = false;
-
-      details.constants.forEach(function(field) {
-        if (field.name === property) {
-          exists = true;
-        }
-      });
-      if (!exists) {
-        details.fields.forEach(function(field) {
-          if (field.name === property) {
-            exists = true;
-          }
-        });
-      }
-
-      if (strict) {
-        return exists;
-      }
-      else {
-        return valid;
-      }
-    });
-  }
-
-  validator.name = 'validate' + camelCase(details.messageName);
-  return validator;
-}
 
 /** Construct the class definition for the given message type. The
  * resulting class holds the data and has the methods required for
@@ -515,14 +483,36 @@ function buildMessageClass(details) {
       details.fields.forEach(function(field) {
         if (field.messageType) {
           // sub-message class
-          that[field.name] =
-            new (field.messageType)(values ? values[field.name] : undefined);
+          // is it an array?
+          var match = field.type.match(/(.*)\[(\d*)\]/);
+          if (values && typeof values[field.name] != "undefined") {
+            // values provided
+            if (match) {
+              // it's an array
+              that[field.name] = values[field.name].map(function(value) {
+                  return new (field.messageType)(value);
+                });
+            } else {
+              that[field.name] =
+                new (field.messageType)(values[field.name]);
+            }
+          } else {
+            // use defaults
+            if (match) {
+              // it's an array
+              const basetype = match[1];
+              const length = (match[2].length > 0 ? parseInt(match[2]) : 0);
+              that[field.name] = new Array(length).fill(new (field.messageType)());
+            } else {
+              that[field.name] = new (field.messageType)();
+            }
+          }
         } else {
-          // simple value
+          // simple type
           that[field.name] =
-            (values && typeof values[field.name] != "undefined") ? 
-            values[field.name] :
-            (field.value || fieldsUtil.getDefaultValue(field.type));
+            (values && typeof values[field.name] != "undefined") ?
+             values[field.name] :
+             (field.value || fieldsUtil.getDefaultValue(field.type));
         }
       });
     }
@@ -556,7 +546,6 @@ function buildMessageClass(details) {
     return message;
   };
   Message.getMessageSize = function(msg) { return fieldsUtil.getMessageSize(msg); };
-  Message.prototype.validate    = buildValidator(details);
 
   return Message;
 }
@@ -594,22 +583,26 @@ function getMessageNameFromMessageType(messageType) {
 function serializeInnerMessage(message, buffer, bufferOffset) {
   message.fields.forEach(function(field) {
     var fieldValue = message[field.name];
+    var details = {}; // to be filled in for arrays
 
     if (fieldsUtil.isPrimitive(field.type)) {
       fieldsUtil.serializePrimitive(
         field.type, fieldValue, buffer, bufferOffset);
       bufferOffset += fieldsUtil.getPrimitiveSize(field.type, fieldValue);
     }
-    else if (fieldsUtil.isArray(field.type)) {
-      buffer.writeUInt32LE(fieldValue.length, bufferOffset);
-      bufferOffset += 4;
+    else if (fieldsUtil.isArray(field.type, details)) {
+      if (typeof details.length == "undefined") {
+        buffer.writeUInt32LE(fieldValue.length, bufferOffset);
+        bufferOffset += 4; // only for variable length arrays
+      }
 
       var arrayType = fieldsUtil.getTypeOfArray(field.type);
       fieldValue.forEach(function(value) {
         if (fieldsUtil.isPrimitive(arrayType)) {
           fieldsUtil.serializePrimitive(
             arrayType, value, buffer, bufferOffset);
-          bufferOffset += fieldsUtil.getPrimitiveSize(arrayType, value);
+          var size = fieldsUtil.getPrimitiveSize(arrayType, value)
+          bufferOffset += size;
         }
         else if (fieldsUtil.isMessage(arrayType)) {
           serializeInnerMessage(value, buffer, bufferOffset);
@@ -630,18 +623,24 @@ function serializeInnerMessage(message, buffer, bufferOffset) {
 function deserializeInnerMessage(message, buffer, bufferOffset) {
   message.fields.forEach(function(field) {
     var fieldValue = message[field.name];
+    var details = {}; // to be filled in for arrays
 
     if (fieldsUtil.isPrimitive(field.type)) {
       fieldValue = fieldsUtil.deserializePrimitive(
         field.type, buffer, bufferOffset)
       bufferOffset += fieldsUtil.getPrimitiveSize(field.type, fieldValue)
     }
-    else if (fieldsUtil.isArray(field.type)) {
-      var array     = []
-        , arraySize = buffer.readUInt32LE(bufferOffset)
-        , arrayType = fieldsUtil.getTypeOfArray(field.type)
-        ;
-      bufferOffset += 4;
+    else if (fieldsUtil.isArray(field.type, details)) {
+      var array     = [];
+      var arrayType = fieldsUtil.getTypeOfArray(field.type)
+
+      var arraySize;
+      if (details.length) {
+        arraySize = details.length
+      } else {
+        arraySize = buffer.readUInt32LE(bufferOffset)
+        bufferOffset += 4; // only for variable length arrays
+      }
 
       for (var i = 0; i < arraySize; i++) {
         if (fieldsUtil.isPrimitive(arrayType)) {