Merge pull request #221 from minggangw/fix-issue-218

Do copy the property if it is an array

Author: Minggang Wang

rosidl_gen/generator.json

@@ -1,6 +1,6 @@
 {
   "name": "rosidl-generator",
-  "version": "0.0.2",
+  "version": "0.0.3",
   "description": "Generate JavaScript object from ROS IDL(.msg) files",
   "authors": [
     "Minggang Wang <[email protected]>",

rosidl_gen/templates/message.dot

@@ -194,7 +194,10 @@ class {{=objectWrapper}} {
     if (typeof other === 'object' && other._refObject) {
       this._refObject = new {{=refObjectType}}(other._refObject.toObject());
       {{~ it.spec.fields :field}}
-      {{? field.type.isArray || !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
+      {{? field.type.isArray}}
+      this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
+      this._wrapperFields.{{=field.name}}.copy(other._wrapperFields.{{=field.name}});
+      {{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
       this._wrapperFields.{{=field.name}} =  new {{=getWrapperNameByType(field.type)}}(other._wrapperFields.{{=field.name}});
       {{?}}
       {{~}}

test/test-non-primitive-msg-type-check.js

@@ -0,0 +1,127 @@
+// Copyright (c) 2017 Intel Corporation. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+'use strict';
+
+const assert = require('assert');
+const rclnodejs = require('../index.js');
+
+/* eslint-disable camelcase */
+describe('Rclnodejs non primitive message type testing', function() {
+  this.timeout(60 * 1000);
+
+  before(function() {
+    return rclnodejs.init();
+  });
+
+  after(function() {
+    rclnodejs.shutdown();
+  });
+
+  it('geometry_msgs/msg/Point checking', function() {
+    const Point = rclnodejs.require('geometry_msgs/msg/Point');
+
+    let point = new Point();
+    point.x = 1.5;
+    point.y = 2.75;
+    point.z = -0.5;
+
+    let pointClone = new Point(point);
+    assert.deepStrictEqual(1.5, pointClone.x);
+    assert.deepStrictEqual(2.75, pointClone.y);
+    assert.deepStrictEqual(-0.5, pointClone.z);
+  });
+
+  it('sensor_msgs/msg/JointState checking', function() {
+    const JointState = rclnodejs.require('sensor_msgs/msg/JointState');
+
+    let jointState = new JointState();
+    jointState.header.stamp.sec = 11223;
+    jointState.header.stamp.nanosec = 44556;
+    jointState.header.frame_id = '1234567x';
+    jointState.name = ['Willy', 'Tacky'];
+    jointState.position = [1, 7, 3, 4, 2, 2, 8];
+    jointState.velocity = [8, 9, 6, 4];
+    jointState.effort = [1, 0, 2, 6, 7];
+
+    let jointStateClone = new JointState(jointState);
+    assert.deepStrictEqual(11223, jointStateClone.header.stamp.sec);
+    assert.deepStrictEqual(44556, jointStateClone.header.stamp.nanosec);
+    assert.deepStrictEqual('1234567x', jointStateClone.header.frame_id);
+    assert.deepStrictEqual(['Willy', 'Tacky'], jointStateClone.name);
+    assert.deepStrictEqual(Float64Array.from([1, 7, 3, 4, 2, 2, 8]), jointStateClone.position);
+    assert.deepStrictEqual(Float64Array.from([8, 9, 6, 4]), jointStateClone.velocity);
+    assert.deepStrictEqual(Float64Array.from([1, 0, 2, 6, 7]), jointStateClone.effort);
+  });
+
+  it('geometry_msgs/msg/Transform checking', function() {
+    const Transform = rclnodejs.require('geometry_msgs/msg/Transform');
+
+    let transform = new Transform();
+    transform.translation.x = 1.5;
+    transform.translation.y = 2.75;
+    transform.translation.z = 3.0;
+    transform.rotation.x = 1.5;
+    transform.rotation.y = 2.75;
+    transform.rotation.z = 3.0;
+    transform.rotation.w = 1.0;
+
+    let transformClone = new Transform(transform);
+    assert.deepStrictEqual(1.5, transformClone.translation.x);
+    assert.deepStrictEqual(2.75, transformClone.translation.y);
+    assert.deepStrictEqual(3.0, transformClone.translation.z);
+    assert.deepStrictEqual(1.5, transformClone.rotation.x);
+    assert.deepStrictEqual(2.75, transformClone.rotation.y);
+    assert.deepStrictEqual(3.0, transformClone.rotation.z);
+    assert.deepStrictEqual(1.0, transformClone.rotation.w);
+  });
+
+  it('std_msgs/msg/Float32MultiArray checking', function() {
+    const Float32MultiArray = rclnodejs.require('std_msgs/msg/Float32MultiArray');
+    const MultiArrayDimension = rclnodejs.require('std_msgs/msg/MultiArrayDimension');
+
+    let float32MultiArray = new Float32MultiArray();
+    let heightDimension = new MultiArrayDimension();
+    heightDimension.label = 'height';
+    heightDimension.size = 480;
+    heightDimension.stride = 921600;
+
+    let weightDimension = new MultiArrayDimension();
+    weightDimension.label = 'weight';
+    weightDimension.size = 640;
+    weightDimension.stride = 1920;
+
+    let channelDimension = new MultiArrayDimension();
+    channelDimension.label = 'channel';
+    channelDimension.size = 3;
+    channelDimension.stride = 8;
+
+    float32MultiArray.layout.dim.fill([heightDimension, weightDimension, channelDimension]);
+    float32MultiArray.layout.data_offset = 1024;
+    float32MultiArray.data = [1.0, 2.0, 3.0, 8.5, 6.75, 0.5, -0.25];
+
+    let float32MultiArrayClone = new Float32MultiArray(float32MultiArray);
+    assert.deepStrictEqual('height', float32MultiArrayClone.layout.dim.data[0].label);
+    assert.deepStrictEqual(480, float32MultiArrayClone.layout.dim.data[0].size);
+    assert.deepStrictEqual(921600, float32MultiArrayClone.layout.dim.data[0].stride);
+    assert.deepStrictEqual('weight', float32MultiArrayClone.layout.dim.data[1].label);
+    assert.deepStrictEqual(640, float32MultiArrayClone.layout.dim.data[1].size);
+    assert.deepStrictEqual(1920, float32MultiArrayClone.layout.dim.data[1].stride);
+    assert.deepStrictEqual('channel', float32MultiArrayClone.layout.dim.data[2].label);
+    assert.deepStrictEqual(3, float32MultiArrayClone.layout.dim.data[2].size);
+    assert.deepStrictEqual(8, float32MultiArrayClone.layout.dim.data[2].stride);
+    assert.deepStrictEqual(1024, float32MultiArrayClone.layout.data_offset);
+    assert.deepStrictEqual(Float32Array.from([1.0, 2.0, 3.0, 8.5, 6.75, 0.5, -0.25]), float32MultiArrayClone.data);
+  });
+});