refactor(tests): Update tests to use proper typing, coerce where necessary.

drewhoener · drewhoener · commit 3caa750d76cf · 2025-11-14T04:11:55.000-05:00
Signed-off-by: Drew Hoener &lt;drewhoener@gmail.com&gt;
diff --git a/test/examples/fibonacci.example.ts b/test/examples/fibonacci.example.ts
@@ -1,6 +1,13 @@
 import { describe, it, expect } from "vitest";
 import * as ROSLIB from "../../src/RosLib.js";
 
+interface FibonacciGoal {
+  order: number;
+}
+interface FibonacciResult {
+  sequence: number[];
+}
+
 // Noetic is the only version of ROS 1 we support, so we skip based on distro name
 // instead of adding extra plumbing for ROS_VERSION.
 describe.skipIf(process.env["ROS_DISTRO"] !== "noetic")(
@@ -18,7 +25,11 @@ describe.skipIf(process.env["ROS_DISTRO"] !== "noetic")(
            * ----------------
            */
 
-          const fibonacciClient = new ROSLIB.ActionClient({
+          const fibonacciClient = new ROSLIB.ActionClient<
+            FibonacciGoal,
+            FibonacciResult,
+            FibonacciResult
+          >({
             ros: ros,
             serverName: "/fibonacci",
             actionName: "actionlib_tutorials/FibonacciAction",
diff --git a/test/examples/topic-listener.example.ts b/test/examples/topic-listener.example.ts
@@ -12,15 +12,19 @@ const messages = ["1", "2", "3", "4"].map(format);
 
 describe("Topics Example", function () {
   function createAndStreamTopic(topicName: string) {
-    const topic = ros.Topic({
+    const topic = ros.Topic<{ data: string }>({
       name: topicName,
       messageType: "std_msgs/String",
     });
     let idx = 0;
 
     function emit() {
       setTimeout(function () {
-        topic.publish(messages[idx++]);
+        const msg = messages[idx++];
+        if (!msg) {
+          return;
+        }
+        topic.publish(msg);
         if (idx < messages.length) {
           emit();
         } else {
diff --git a/test/ros.test.ts b/test/ros.test.ts
@@ -8,7 +8,7 @@ import type {
 } from "../src/core/transport/Transport.js";
 import { WebSocketTransportFactory } from "../src/core/transport/WebSocketTransportFactory.js";
 import Ros from "../src/core/Ros.js";
-import type { RosbridgeMessage } from "../src/types/protocol.js";
+import type { BridgeProtoOp } from "../src/types/protocol.js";
 
 describe("Ros", function () {
   let mockRosUrl: string;
@@ -19,7 +19,7 @@ describe("Ros", function () {
     open: ((event: TransportEvent) => void)[];
     close: ((event: TransportEvent) => void)[];
     error: ((event: TransportEvent) => void)[];
-    message: ((event: RosbridgeMessage) => void)[];
+    message: ((event: BridgeProtoOp) => void)[];
   };
 
   const publishMockTransportEvent = (event: string, value: unknown) => {
@@ -51,7 +51,7 @@ describe("Ros", function () {
         break;
       case "message":
         mockTransportListeners.message.forEach((listener) => {
-          listener(value as RosbridgeMessage);
+          listener(value as BridgeProtoOp);
         });
         break;
     }
@@ -64,7 +64,7 @@ describe("Ros", function () {
       open: new Array<(event: TransportEvent) => void>(),
       close: new Array<(event: TransportEvent) => void>(),
       error: new Array<(event: TransportEvent) => void>(),
-      message: new Array<(event: RosbridgeMessage) => void>(),
+      message: new Array<(event: BridgeProtoOp) => void>(),
     };
 
     mockTransport = {
@@ -229,7 +229,10 @@ describe("Ros", function () {
       publishMockTransportEvent("open", new Event("open"));
 
       const rosOnceSpy = vi.spyOn(ros, "once");
-      ros.callOnConnection({ op: "test" });
+
+      // Coerce this message to be a valid bridge operation (it's not)
+      // Needs to be cast because type checking will catch it otherwise
+      ros.callOnConnection({ op: "test" } as unknown as BridgeProtoOp);
 
       expect(rosOnceSpy).not.toHaveBeenCalled();
       expect(mockTransport.send).toHaveBeenCalledWith({ op: "test" });
@@ -242,7 +245,10 @@ describe("Ros", function () {
 
       // When disconnected, the message is queued to send
       const rosOnceSpy = vi.spyOn(ros, "once");
-      ros.callOnConnection({ op: "test" });
+
+      // Coerce this message to be a valid bridge operation (it's not)
+      // Needs to be cast because type checking will catch it otherwise
+      ros.callOnConnection({ op: "test" } as unknown as BridgeProtoOp);
 
       expect(rosOnceSpy).toHaveBeenCalledWith("open", expect.any(Function));
       expect(mockTransport.send).not.toHaveBeenCalled();
diff --git a/test/service.test.ts b/test/service.test.ts
@@ -37,10 +37,7 @@ describe("Service", () => {
     expect(ros.listenerCount(server.name)).toEqual(0);
   });
   it("Successfully advertises a service with a synchronous return", async () => {
-    const server = new Service<
-      undefined,
-      { success: boolean; message: string }
-    >({
+    const server = new Service<never, { success: boolean; message: string }>({
       ros,
       serviceType: "std_srvs/Trigger",
       name: "/test_service",
@@ -71,10 +68,7 @@ describe("Service", () => {
   });
 
   it("Handles re-advertisement gracefully without throwing errors", async () => {
-    const server = new Service<
-      undefined,
-      { success: boolean; message: string }
-    >({
+    const server = new Service<never, { success: boolean; message: string }>({
       ros,
       serviceType: "std_srvs/Trigger",
       name: "/test_readvertise",
@@ -106,10 +100,7 @@ describe("Service", () => {
   });
 
   it("Handles multiple unadvertise calls gracefully", async () => {
-    const server = new Service<
-      undefined,
-      { success: boolean; message: string }
-    >({
+    const server = new Service<never, { success: boolean; message: string }>({
       ros,
       serviceType: "std_srvs/Trigger",
       name: "/test_multiple_unadvertise",
@@ -164,10 +155,7 @@ describe("Service", () => {
   });
 
   it("Ensures operations are serialized through queue", async () => {
-    const server = new Service<
-      undefined,
-      { success: boolean; message: string }
-    >({
+    const server = new Service<never, { success: boolean; message: string }>({
       ros,
       serviceType: "std_srvs/Trigger",
       name: "/test_queue",
diff --git a/test/transport.test.ts b/test/transport.test.ts
@@ -4,16 +4,13 @@ import type { MockedObject } from "vitest";
 import { afterEach, beforeEach, describe, expect, it, vi } from "vitest";
 import type { AbstractTransport } from "../src/core/transport/Transport.js";
 import { WebSocketTransportFactory } from "../src/core/transport/WebSocketTransportFactory.js";
-import type {
-  RosbridgeMessage,
-  RosbridgePngMessage,
-} from "../src/types/protocol.js";
 import CBOR from "cbor-js";
 import * as fastpng from "fast-png";
 import * as bson from "bson";
 import * as ws from "ws";
 import { NativeWebSocketTransport } from "../src/core/transport/NativeWebSocketTransport.js";
 import { WsWebSocketTransport } from "../src/core/transport/WsWebSocketTransport.js";
+import type { BridgeProtoOp } from "../src/types/protocol.js";
 
 vi.mock("fast-png");
 
@@ -55,9 +52,9 @@ describe("Transport", () => {
     });
 
     it("should handle RosbridgeMessage", () => {
-      const message: RosbridgeMessage = {
+      const message = {
         op: "test",
-      };
+      } as unknown as BridgeProtoOp;
 
       const messageEvent: Partial<MessageEvent> = {
         type: "message",
@@ -202,12 +199,12 @@ describe("Transport", () => {
 
       // Obviously these are not real PNG encoded messages.
       // But they're good enough for mocking responses in our tests.
-      const successMessage: RosbridgePngMessage = {
+      const successMessage = {
         op: "png",
         data: Buffer.from("success").toString("base64"),
       };
 
-      const failureMessage: RosbridgePngMessage = {
+      const failureMessage = {
         op: "png",
         data: Buffer.from("failure").toString("base64"),
       };
@@ -370,7 +367,7 @@ describe("Transport", () => {
     it("should send messages as JSON", () => {
       const transport = new NativeWebSocketTransport(mockSocket);
 
-      transport.send({ op: "test" });
+      transport.send({ op: "test" } as unknown as BridgeProtoOp);
 
       expect(mockSocket.send).toHaveBeenCalledWith(
         JSON.stringify({ op: "test" }),
@@ -482,9 +479,9 @@ describe("Transport", () => {
 
       transport.on("message", messageListener);
 
-      const message: RosbridgeMessage = {
+      const message = {
         op: "test",
-      };
+      } as unknown as BridgeProtoOp;
 
       const messageEvent: Partial<MessageEvent> = {
         type: "message",
@@ -515,7 +512,7 @@ describe("Transport", () => {
     it("should send messages as JSON", () => {
       const transport = new WsWebSocketTransport(mockSocket);
 
-      transport.send({ op: "test" });
+      transport.send({ op: "test" } as unknown as BridgeProtoOp);
 
       expect(mockSocket.send).toHaveBeenCalledWith(
         JSON.stringify({ op: "test" }),
@@ -627,9 +624,9 @@ describe("Transport", () => {
 
       transport.on("message", messageListener);
 
-      const message: RosbridgeMessage = {
+      const message = {
         op: "test",
-      };
+      } as unknown as BridgeProtoOp;
 
       const messageEvent: ws.MessageEvent = {
         type: "message",
