Remove consistency checking

Author: minggangw

lib/client.js

@@ -58,7 +58,6 @@ class Client extends Entity {
       request instanceof this._typeClass.Request
         ? request
         : new this._typeClass.Request(request);
-    requestToSend._willCheckConsistency = this._options.willCheckConsistency;
 
     let rawRequest = requestToSend.serialize();
     let sequenceNumber = rclnodejs.sendRequest(this._handle, rawRequest);

lib/node.js

@@ -502,10 +502,6 @@ class Node extends rclnodejs.ShadowNode {
       options = Object.assign(options, { isRaw: false });
     }
 
-    if (options.willCheckConsistency === undefined) {
-      options = Object.assign(options, { willCheckConsistency: false });
-    }
-
     return options;
   }
 
@@ -592,7 +588,6 @@ class Node extends rclnodejs.ShadowNode {
    * @param {object} options - The options argument used to parameterize the publisher.
    * @param {boolean} options.enableTypedArray - The topic will use TypedArray if necessary, default: true.
    * @param {QoS} options.qos - ROS Middleware "quality of service" settings for the publisher, default: QoS.profileDefault.
-   * @param {boolean} options.willCheckConsistency - Pulisher will check the consistancy of the message to be sent, default: false.
    * @return {Publisher} - An instance of Publisher.
    */
   createPublisher(typeClass, topic, options) {
@@ -695,7 +690,6 @@ class Node extends rclnodejs.ShadowNode {
    * @param {object} options - The options argument used to parameterize the client.
    * @param {boolean} options.enableTypedArray - The response will use TypedArray if necessary, default: true.
    * @param {QoS} options.qos - ROS Middleware "quality of service" settings for the client, default: QoS.profileDefault.
-   * @param {boolean} options.willCheckConsistency - Client will check the consistancy of the message to be sent, default: false.
    * @return {Client} - An instance of Client.
    */
   createClient(typeClass, serviceName, options) {
@@ -1696,7 +1690,6 @@ Node.getDefaultOptions = function () {
     isRaw: false,
     qos: QoS.profileDefault,
     contentFilter: undefined,
-    willCheckConsistency: false,
   };
 };
 

lib/publisher.js

@@ -53,7 +53,6 @@ class Publisher extends Entity {
         message instanceof this._typeClass
           ? message
           : new this._typeClass(message);
-      messageToSend._willCheckConsistency = this._options.willCheckConsistency;
       let rawMessage = messageToSend.serialize();
       rclnodejs.publish(this._handle, rawMessage);
     }

rosidl_gen/templates/message.dot

@@ -268,17 +268,14 @@ const {{=refObjectArrayType}} = StructType({
 
 {{/* Define the wrapper class for the message. */}}
 class {{=objectWrapper}} {
-  constructor(other, willCheckConsistency = false) {
-    this._initialize(willCheckConsistency);
+  constructor(other) {
+    this._initialize();
     this._setDefaults();
 
     {{/* Construct `this` from `other`. */}}
     if (typeof other === 'object' && other._refObject) {
       this._refObject = new {{=refObjectType}}(other._refObject.toObject());
       {{~ it.spec.fields :field}}
-        {{? field.type.isPrimitiveType && !field.type.isArray}}
-        this._{{=field.name}}Intialized = true;
-        {{?}}
         {{? field.type.isArray}}
         this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
         this._wrapperFields.{{=field.name}}.copy(other._wrapperFields.{{=field.name}});
@@ -300,10 +297,7 @@ class {{=objectWrapper}} {
   _setDefaults() {
     {{~ it.spec.fields :field}}
       {{/* Set the flag of initialization. */}}
-      {{? it.spec.isEmpty}}
-      this._{{=field.name}}Intialized = true;
-      {{?? field.type.isPrimitiveType && !field.type.isArray && field.default_value}}
-      this._{{=field.name}}Intialized = true;
+      {{? field.type.isPrimitiveType && !field.type.isArray && field.default_value}}
         {{? field.type.type === 'string' || field.type.type === 'wstring'}}
         this._refObject.{{=field.name}} = "{{=field.default_value.replace(/"/g, '\\"')}}";
         {{??}}
@@ -313,14 +307,11 @@ class {{=objectWrapper}} {
       this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}};
       {{?? field.type.isPrimitiveType && isTypedArrayType(field.type) && field.default_value}}
       this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from({{=JSON.stringify(field.default_value)}}));
-      {{??}}
-      this._{{=field.name}}Intialized = false;
       {{?}}
     {{~}}
   }
 
-  _initialize(willCheckConsistency) {
-    this._willCheckConsistency = willCheckConsistency;
+  _initialize() {
     this._wrapperFields = {};
     this._refObject = new {{=refObjectType}}();
     {{~ it.spec.fields :field}}
@@ -371,14 +362,6 @@ class {{=objectWrapper}} {
 
   {{ /*Assign values to the ref object. */ }}
   freeze(own = false, checkConsistency = false) {
-    {{~ it.spec.fields :field}}
-      {{? field.type.isPrimitiveType && !field.type.isArray}}
-      if (checkConsistency && !this._{{=field.name}}Intialized) {
-        throw new TypeError('Invalid argument: {{=field.name}} in {{=it.spec.msgName}}');
-      }
-      {{?}}
-    {{~}}
-
     {{~ it.spec.fields :field}}
       {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type) && field.type.isFixedSizeArray}}
         {{? field.type.type === 'string'}}
@@ -443,14 +426,12 @@ class {{=objectWrapper}} {
   }
 
   serialize() {
-    this.freeze(/*own=*/false, this._willCheckConsistency);
+    this.freeze(/*own=*/false);
     return this._refObject.ref();
   }
 
   deserialize(refObject) {
   {{~ it.spec.fields :field}}
-    this._{{=field.name}}Intialized = true;
-
     {{? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray && isTypedArrayType(field.type)}}
     this._wrapperFields.{{=field.name}}.fill(refObject.{{=field.name}}.toArray());
     {{?? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray && !isTypedArrayType(field.type)}}
@@ -547,23 +528,13 @@ class {{=objectWrapper}} {
     {{?? !field.type.isPrimitiveType && !field.type.isArray}}
     return this._wrapperFields.{{=field.name}};
     {{?? !field.type.isArray && field.type.type === 'string' && it.spec.msgName !== 'String'}}
-    if (!this._{{=field.name}}Intialized) {
-      return undefined;
-    }
     return this._wrapperFields.{{=field.name}}.data;
     {{??}}
-    if (!this._{{=field.name}}Intialized) {
-      return undefined;
-    }
     return this._refObject.{{=field.name}};
     {{?}}
   }
 
   set {{=field.name}}(value) {
-    {{? field.type.isPrimitiveType && !field.type.isArray}}
-    this._{{=field.name}}Intialized = true;
-    {{?}}
-
     {{?field.type.isArray && field.type.isFixedSizeArray}}
     if (value.length !== {{=field.type.arraySize}}) {
       throw new RangeError('The length of the array must be {{=field.type.arraySize}}.');
@@ -604,7 +575,6 @@ class {{=objectWrapper}} {
     this._refObject = new {{=refObjectType}}(refObject.toObject());
 
     {{~ it.spec.fields :field}}
-      this._{{=field.name}}Intialized = true;
       {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
       refObject.{{=field.name}}.data.length = refObject.{{=field.name}}.size;
       for (let index = 0; index < refObject.{{=field.name}}.size; index++) {
@@ -628,7 +598,6 @@ class {{=objectWrapper}} {
     this._refObject = new {{=refObjectType}}(other._refObject.toObject());
 
     {{~ it.spec.fields :field}}
-      this._{{=field.name}}Intialized = true;
       {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
       this._{{=field.name}}Array = other._{{=field.name}}Array.slice();
       {{?? !field.type.isPrimitiveType || field.type.isArray || (field.type.type === 'string' && it.spec.msgName !== 'String')}}

test/test-compound-msg-type-check.js

@@ -34,10 +34,6 @@ describe('Compound types', function () {
     let msg = new msgColorRGBA();
 
     assert.ok('r' in msg && 'g' in msg && 'b' in msg && 'a' in msg);
-    assert.deepStrictEqual(typeof msg.r, 'undefined');
-    assert.deepStrictEqual(typeof msg.g, 'undefined');
-    assert.deepStrictEqual(typeof msg.b, 'undefined');
-    assert.deepStrictEqual(typeof msg.a, 'undefined');
   });
 
   it('Array', function () {
@@ -60,7 +56,6 @@ describe('Compound types', function () {
     assert.ok('frame_id' in header);
 
     assert.deepStrictEqual(typeof header.stamp, 'object');
-    assert.deepStrictEqual(typeof header.frame_id, 'undefined');
   });
 
   it('Complex object', function () {

test/test-security-related.js

@@ -213,84 +213,6 @@ describe('Fuzzing API calls testing', function () {
     node.destroy();
   });
 
-  it('Inconsistent message type for subscription', function () {
-    var node = rclnodejs.createNode('node1', '/inconsistent');
-    const RclString = 'std_msgs/msg/String';
-
-    var publisher = node.createPublisher(RclString, 'chatter7', {
-      willCheckConsistency: true,
-    });
-    assertThrowsError(
-      () => {
-        publisher.publish({ a: 1 });
-      },
-      TypeError,
-      'Invalid argument',
-      `Type should be ${RclString}`
-    );
-
-    const String = rclnodejs.require(RclString);
-    const str = new String();
-    str.a = 1;
-    assertThrowsError(
-      () => {
-        publisher.publish(str);
-      },
-      TypeError,
-      'Invalid argument',
-      `Type should be ${RclString}`
-    );
-
-    rclnodejs.spin(node);
-    node.destroy();
-  });
-
-  it('Inconsistent request data for service', function () {
-    var node = rclnodejs.createNode('node2', '/inconsistent');
-    const AddTwoInts = 'example_interfaces/srv/AddTwoInts';
-
-    var client = node.createClient(AddTwoInts, 'add_two_ints', {
-      willCheckConsistency: true,
-    });
-    var service = node.createService(
-      AddTwoInts,
-      'add_two_ints',
-      (request, response) => {
-        assert.throws(
-          () => {
-            request.b;
-          },
-          Error,
-          'This should never be reached.'
-        );
-      }
-    );
-
-    assertThrowsError(
-      () => {
-        client.sendRequest({ a: 1 }, (response) => {});
-      },
-      TypeError,
-      'Invalid argument',
-      'request.b does not exist'
-    );
-
-    const Request = rclnodejs.require(AddTwoInts).Request;
-    const req = new Request();
-    req.a = 1;
-    assertThrowsError(
-      () => {
-        client.sendRequest(req, (response) => {});
-      },
-      TypeError,
-      'Invalid argument',
-      'request.b does not exist'
-    );
-
-    rclnodejs.spin(node);
-    node.destroy();
-  });
-
   it('resources will be freed by shutdown', function () {
     var node = rclnodejs.createNode('node1', '/unhandled');
     const RclString = 'std_msgs/msg/String';