Do copy the property if it is an array

Currently, if a new message is constructed from another message, which
has the same type, the property of array type will not get copied.

This patch fixed this bug, some unit tests are added too.

Fix #218

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);
+  });
+});