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Feb 26, 2025
Merged

Pump deep-equal to latest version #1045

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3 changes: 1 addition & 2 deletions package.json
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Original file line number Diff line number Diff line change
Expand Up @@ -43,15 +43,14 @@
"type": "git",
"url": "git+https://github.com/RobotWebTools/rclnodejs.git"
},
"//": "Pin deep-equal to ^1.1.1",
"devDependencies": {
"@babel/eslint-parser": "^7.25.9",
"@typescript-eslint/eslint-plugin": "^8.18.0",
"@typescript-eslint/parser": "^8.18.0",
"babel-eslint": "^10.1.0",
"clang-format": "^1.8.0",
"commander": "^13.1.0",
"deep-equal": "^1.1.1",
"deep-equal": "^2.2.3",
"eslint": "^9.16.0",
"eslint-config-prettier": "^10.0.1",
"eslint-plugin-prettier": "^5.2.1",
Expand Down
12 changes: 6 additions & 6 deletions test/test-action-server.js
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Expand Up @@ -446,7 +446,7 @@ describe('rclnodejs action server', function () {
let result = await handle.getResult();
assert.ok(result);
assert.ok(handle.status, GoalStatus.STATUS_SUCCEEDED);
assert.ok(deepEqual(result.sequence, testSequence));
assert.ok(deepEqual(result.sequence, Int32Array.from(testSequence)));

server.destroy();
});
Expand Down Expand Up @@ -480,7 +480,7 @@ describe('rclnodejs action server', function () {
let result = await handle.getResult();
assert.ok(result);
assert.ok(handle.status, GoalStatus.STATUS_ABORTED);
assert.ok(deepEqual(result.sequence, testSequence));
assert.ok(deepEqual(result.sequence, Int32Array.from(testSequence)));

server.destroy();
});
Expand Down Expand Up @@ -515,7 +515,7 @@ describe('rclnodejs action server', function () {
assert.ok(result);
// Goal status should default to aborted
assert.ok(handle.status, GoalStatus.STATUS_ABORTED);
assert.ok(deepEqual(result.sequence, testSequence));
assert.ok(deepEqual(result.sequence, Int32Array.from(testSequence)));

server.destroy();
});
Expand Down Expand Up @@ -543,7 +543,7 @@ describe('rclnodejs action server', function () {
assert.ok(result);
// Goal status should default to aborted
assert.ok(handle.status, GoalStatus.STATUS_ABORTED);
assert.ok(deepEqual(result.sequence, []));
assert.ok(deepEqual(result.sequence, Int32Array.from([])));

server.destroy();
});
Expand Down Expand Up @@ -660,7 +660,7 @@ describe('rclnodejs action server', function () {
await assertUtils.createDelay(50);

assert.ok(feedbackMessage);
assert.ok(deepEqual(sequence, feedbackMessage.sequence));
assert.ok(deepEqual(Int32Array.from(sequence), feedbackMessage.sequence));

server.destroy();
});
Expand Down Expand Up @@ -704,7 +704,7 @@ describe('rclnodejs action server', function () {
await assertUtils.createDelay(50);

assert.ok(feedbackMessage);
assert.ok(deepEqual(sequence, feedbackMessage.sequence));
assert.ok(deepEqual(Int32Array.from(sequence), feedbackMessage.sequence));

server.destroy();
});
Expand Down
7 changes: 3 additions & 4 deletions test/test-array-data.js
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Expand Up @@ -15,7 +15,6 @@
'use strict';

const assert = require('assert');
const childProcess = require('child_process');
const deepEqual = require('deep-equal');
const rclnodejs = require('../index.js');
const translator = require('../rosidl_gen/message_translator.js');
Expand Down Expand Up @@ -180,10 +179,10 @@ describe('rclnodejs message communication', function () {
assert(msg.layout.data_offset === v.layout.data_offset);

assert(msg.data);
if (isTypedArray(v.data)) {
assert.deepStrictEqual(msg.data, v.data);
} else {
if (isTypedArray(v.data) && isTypedArray(msg.data)) {
assert.ok(deepEqual(msg.data, v.data));
} else {
assert.ok(deepEqual(Array.from(msg.data), v.data));
}
}

Expand Down
24 changes: 17 additions & 7 deletions test/test-message-properties-validation.js
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Expand Up @@ -75,9 +75,9 @@ describe('Rclnodejs message properities validation', function () {
frame_id: '1234567x',
},
name: ['Willy', 'Tacky'],
position: [1, 7, 3, 4, 2, 2, 8],
velocity: [8, 9, 6, 4],
effort: [1, 0, 2, 6, 7],
position: Float64Array.from([1, 7, 3, 4, 2, 2, 8]),
velocity: Float64Array.from([8, 9, 6, 4]),
effort: Float64Array.from([1, 0, 2, 6, 7]),
},
},
{
Expand All @@ -92,7 +92,7 @@ describe('Rclnodejs message properities validation', function () {
],
data_offset: 1024,
},
data: [1.0, 2.0, 3.0, 8.5, 6.75, 0.5, -0.25],
data: Float32Array.from([1.0, 2.0, 3.0, 8.5, 6.75, 0.5, -0.25]),
},
},
{
Expand Down Expand Up @@ -157,11 +157,11 @@ describe('Rclnodejs message properities validation', function () {
channels: [
{
name: 'rgb',
values: [0.0, 1.5, 2.0, 3.75],
values: Float32Array.from([0.0, 1.5, 2.0, 3.75]),
},
{
name: 'intensity',
values: [10.0, 21.5, 2.0, 3.75],
values: Float32Array.from([10.0, 21.5, 2.0, 3.75]),
},
],
},
Expand All @@ -174,7 +174,17 @@ describe('Rclnodejs message properities validation', function () {
for (let i in testData.value) {
// Assign the property with a plain object.
left[i] = testData.value[i];
deepEqual(left[i], right[i]);
if (typeof left[i].toPlainObject === 'function') {
assert.ok(deepEqual(testData.value[i], left[i].toPlainObject()));
} else if (left[i].classType && left[i].classType.isROSArray) {
left[i].data.forEach((value, index) => {
assert.ok(
deepEqual(testData.value[i][index], value.toPlainObject())
);
});
} else {
assert.ok(deepEqual(testData.value[i], left[i]));
}
}
});
});
Expand Down
68 changes: 9 additions & 59 deletions test/test-message-translator-complex.js
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Expand Up @@ -18,6 +18,10 @@ const assert = require('assert');
const rclnodejs = require('../index.js');
const deepEqual = require('deep-equal');

function isTypedArray(v) {
return ArrayBuffer.isView(v) && !(v instanceof DataView);
}

describe('Rclnodejs message translation: complex types', function () {
this.timeout(60 * 1000);

Expand Down Expand Up @@ -98,43 +102,22 @@ describe('Rclnodejs message translation: complex types', function () {
pkg: 'sensor_msgs',
type: 'JointState',
values: [
{
header: {
stamp: { sec: 11223, nanosec: 44556 },
frame_id: '1234567x',
},
name: ['Willy', 'Tacky'],
position: [1, 7, 3, 4, 2, 2, 8],
velocity: [8, 9, 6, 4],
effort: [1, 0, 2, 6, 7],
},
{
header: {
stamp: { sec: 11223, nanosec: 44556 },
frame_id: '0001234567x',
},
name: ['Goodly', 'Lovely', 'Angel', 'Neatly', 'Perfect', 'Tacky'],
position: [1, 23, 7, 3, 4, 2, 2, 8],
velocity: [1, 9, 8, 9, 6, 4],
effort: [2, 1, 1, 0, 2, 6, 7],
position: Float64Array.from([1, 23, 7, 3, 4, 2, 2, 8]),
velocity: Float64Array.from([1, 9, 8, 9, 6, 4]),
effort: Float64Array.from([2, 1, 1, 0, 2, 6, 7]),
},
],
},
{
pkg: 'std_msgs',
type: 'Float32MultiArray',
values: [
{
layout: {
dim: [
{ label: 'height', size: 480, stride: 921600 },
{ label: 'width', size: 640, stride: 1920 },
{ label: 'channel', size: 3, stride: 8 },
],
data_offset: 1024,
},
data: [1.0, 2.0, 3.0, 8.5, 6.75, 0.5, -0.25],
},
{
layout: {
dim: [
Expand All @@ -152,17 +135,6 @@ describe('Rclnodejs message translation: complex types', function () {
pkg: 'std_msgs',
type: 'Int32MultiArray',
values: [
{
layout: {
dim: [
{ label: 'height', size: 10, stride: 600 },
{ label: 'width', size: 20, stride: 60 },
{ label: 'channel', size: 3, stride: 4 },
],
data_offset: 0,
},
data: [-10, 1, 2, 3, 8, 6, 0, -25], // Provide data via Array
},
{
layout: {
dim: [
Expand All @@ -180,17 +152,6 @@ describe('Rclnodejs message translation: complex types', function () {
pkg: 'std_msgs',
type: 'Int16MultiArray',
values: [
{
layout: {
dim: [
{ label: 'height', size: 10, stride: 600 },
{ label: 'width', size: 20, stride: 60 },
{ label: 'channel', size: 3, stride: 4 },
],
data_offset: 0,
},
data: [-10, 1, 2, 3, 8, 6, 0, -25], // Provide data via Array
},
{
layout: {
dim: [
Expand All @@ -208,17 +169,6 @@ describe('Rclnodejs message translation: complex types', function () {
pkg: 'std_msgs',
type: 'Int8MultiArray',
values: [
{
layout: {
dim: [
{ label: 'height', size: 10, stride: 600 },
{ label: 'width', size: 20, stride: 60 },
{ label: 'channel', size: 3, stride: 4 },
],
data_offset: 0,
},
data: [-10, 1, 2, 3, 8, 6, 0, -25], // Provide data via Array
},
{
layout: {
dim: [
Expand Down Expand Up @@ -250,11 +200,11 @@ describe('Rclnodejs message translation: complex types', function () {
channels: [
{
name: 'rgb',
values: [0.0, 1.5, 2.0, 3.75],
values: Float32Array.from([0.0, 1.5, 2.0, 3.75]),
},
{
name: 'intensity',
values: [10.0, 21.5, 2.0, 3.75],
values: Float32Array.from([10.0, 21.5, 2.0, 3.75]),
},
],
},
Expand Down
16 changes: 14 additions & 2 deletions test/test-message-translator-primitive.js
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Expand Up @@ -18,6 +18,10 @@ const rclnodejs = require('../index.js');
const deepEqual = require('deep-equal');
const arrayGen = require('./array_generator.js');

function isTypedArray(v) {
return ArrayBuffer.isView(v) && !(v instanceof DataView);
}

/* eslint-disable camelcase */
/* eslint-disable indent */

Expand Down Expand Up @@ -219,7 +223,11 @@ describe('Rclnodejs message translation: primitive types array', function () {
return new Promise((resolve, reject) => {
const sub = node.createSubscription(MessageType, topic, (value) => {
// For primitive types, msgs are defined as a single `.data` field
if (deepEqual(value.data, testData.values)) {
if (
(isTypedArray(value.data) &&
deepEqual(Array.from(value.data), testData.values)) ||
deepEqual(value.data, testData.values)
) {
node.destroy();
resolve();
} else {
Expand Down Expand Up @@ -474,7 +482,11 @@ describe('Rclnodejs message translation: TypedArray large data', function () {
return new Promise((resolve, reject) => {
const sub = node.createSubscription(MessageType, topic, (value) => {
// For primitive types, msgs are defined as a single `.data` field
if (deepEqual(value.data, testData.values)) {
if (
(isTypedArray(value.data) &&
deepEqual(Array.from(value.data), testData.values)) ||
deepEqual(value.data, testData.values)
) {
node.destroy();
resolve();
} else {
Expand Down
10 changes: 4 additions & 6 deletions test/test-msg-type-cpp-node.js
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Expand Up @@ -21,7 +21,6 @@ const path = require('path');
const childProcess = require('child_process');
const deepEqual = require('deep-equal');
const rclnodejs = require('../index.js');
const utils = require('./utils.js');

describe('Rclnodejs - Cpp message type testing', function () {
var cppSubscriptionPath = path.join(__dirname, 'cpp', 'subscription_msg');
Expand Down Expand Up @@ -423,7 +422,7 @@ describe('Rclnodejs - Cpp message type testing', function () {
],
data_offset: 0,
},
data: [65, 66, 67],
data: Uint8Array.from([65, 66, 67]),
};

var publisher = node.createPublisher(
Expand Down Expand Up @@ -491,12 +490,11 @@ describe('Rclnodejs - Cpp message type testing', function () {
frame_id: 'main frame',
},
name: ['Tom', 'Jerry'],
position: [1, 2],
velocity: [2, 3],
effort: [4, 5, 6],
position: Float64Array.from([1, 2]),
velocity: Float64Array.from([2, 3]),
effort: Float64Array.from([4, 5, 6]),
};

var destroy = false;
var publisher = node.createPublisher(
JointState,
'JointState_js_cpp_channel'
Expand Down
8 changes: 4 additions & 4 deletions test/test-msg-type-py-node.js
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Expand Up @@ -447,7 +447,7 @@ describe('Rclnodejs - Python message type testing', function () {
],
data_offset: 0,
},
data: [65, 66, 67],
data: Uint8Array.from([65, 66, 67]),
};

var destroy = false;
Expand Down Expand Up @@ -560,9 +560,9 @@ describe('Rclnodejs - Python message type testing', function () {
frame_id: 'main frame',
},
name: ['Tom', 'Jerry'],
position: [1, 2],
velocity: [2, 3],
effort: [4, 5, 6],
position: Float64Array.from([1, 2]),
velocity: Float64Array.from([2, 3]),
effort: Float64Array.from([4, 5, 6]),
};

var destroy = false;
Expand Down
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