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Merged
EzraBrooks merged 1 commit into from
Nov 18, 2025
Merged

Switch from cbor-js to cbor2 #1096

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30 changes: 23 additions & 7 deletions package-lock.json
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2 changes: 1 addition & 1 deletion package.json
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@
"@xmldom/xmldom": "^0.9.8",
"bson": "^7.0.0",
"buffer": "^6.0.3",
"cbor-js": "^0.1.0",
"cbor2": "^2.0.1",
"eventemitter3": "^5.0.1",
"fast-png": "^7.0.1",
"uuid": "^13.0.0",
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5 changes: 2 additions & 3 deletions src/core/transport/Transport.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,7 @@ import {
isRosbridgePngMessage,
} from "../../types/protocol.ts";
import { deserialize } from "bson";
import CBOR from "cbor-js";
import typedArrayTagger from "../../util/cborTypedArrayTags.ts";
import { decode } from "cbor2";
import decompressPng from "../../util/decompressPng.ts";

/**
Expand Down Expand Up @@ -221,7 +220,7 @@ export abstract class AbstractTransport
* It is one technique for compressing JSON data.
*/
private handleCborMessage(cbor: ArrayBuffer) {
const data: unknown = CBOR.decode(cbor, typedArrayTagger);
const data: unknown = decode(new Uint8Array(cbor));
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@EzraBrooks EzraBrooks Nov 17, 2025

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Uint8Arrays are views on ArrayBuffers, so this (thankfully) doesn't do any copying of potentially large data.

if (isRosbridgeMessage(data)) {
this.handleRosbridgeMessage(data);
} else {
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8 changes: 0 additions & 8 deletions src/types/cbor-js.d.ts
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137 changes: 0 additions & 137 deletions src/util/cborTypedArrayTags.ts
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49 changes: 24 additions & 25 deletions test/cbor.test.ts
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Original file line number Diff line number Diff line change
@@ -1,6 +1,5 @@
import { describe, it, expect } from "vitest";
import CBOR from "cbor-js";
import cborTypedArrayTagger from "../src/util/cborTypedArrayTags.ts";
import { decode } from "cbor2";

/** Convert hex string to ArrayBuffer. */
function hexToBuffer(hex: string) {
Expand All @@ -11,13 +10,13 @@ function hexToBuffer(hex: string) {
const arr = tokens.map(function (t) {
return parseInt(t, 16);
});
return new Uint8Array(arr).buffer;
return new Uint8Array(arr);
}

describe("CBOR Typed Array Tagger", function () {
it("should convert tagged Uint16Array", function () {
const data = hexToBuffer("d84546010002000300");
const msg = CBOR.decode(data, cborTypedArrayTagger);
const msg = decode(data);

if (!(msg instanceof Uint16Array)) {
throw new Error("Expected Uint16Array");
Expand All @@ -30,7 +29,7 @@ describe("CBOR Typed Array Tagger", function () {

it("should convert tagged Uint32Array", function () {
const data = hexToBuffer("d8464c010000000200000003000000");
const msg = CBOR.decode(data, cborTypedArrayTagger);
const msg = decode(data);

if (!(msg instanceof Uint32Array)) {
throw new Error("Expected Uint32Array");
Expand All @@ -41,24 +40,24 @@ describe("CBOR Typed Array Tagger", function () {
expect(msg[2]).to.equal(3);
});

it("should convert tagged Uint64Array", function () {
it("should convert tagged BigUint64Array", function () {
const data = hexToBuffer(
"d8475818010000000000000002000000000000000300000000000000",
);
const msg = CBOR.decode(data, cborTypedArrayTagger);
const msg = decode(data);

if (!Array.isArray(msg)) {
throw new Error("Expected Array");
if (!(msg instanceof BigUint64Array)) {
throw new Error("Expected BigUint64Array");
}
expect(msg).to.have.lengthOf(3);
expect(msg[0]).to.equal(1);
expect(msg[1]).to.equal(2);
expect(msg[2]).to.equal(3);
expect(msg[0]).to.equal(BigInt(1));
expect(msg[1]).to.equal(BigInt(2));
expect(msg[2]).to.equal(BigInt(3));
});

it("should convert tagged Int8Array", function () {
const data = hexToBuffer("d8484301fe03");
const msg = CBOR.decode(data, cborTypedArrayTagger);
const msg = decode(data);

if (!(msg instanceof Int8Array)) {
throw new Error("Expected Int8Array");
Expand All @@ -71,7 +70,7 @@ describe("CBOR Typed Array Tagger", function () {

it("should convert tagged Int16Array", function () {
const data = hexToBuffer("d84d460100feff0300");
const msg = CBOR.decode(data, cborTypedArrayTagger);
const msg = decode(data);

if (!(msg instanceof Int16Array)) {
throw new Error("Expected Int16Array");
Expand All @@ -84,7 +83,7 @@ describe("CBOR Typed Array Tagger", function () {

it("should convert tagged Int32Array", function () {
const data = hexToBuffer("d84e4c01000000feffffff03000000");
const msg = CBOR.decode(data, cborTypedArrayTagger);
const msg = decode(data);

if (!(msg instanceof Int32Array)) {
throw new Error("Expected Int32Array");
Expand All @@ -95,24 +94,24 @@ describe("CBOR Typed Array Tagger", function () {
expect(msg[2]).to.equal(3);
});

it("should convert tagged Int64Array", function () {
it("should convert tagged BigInt64Array", function () {
const data = hexToBuffer(
"d84f58180100000000000000feffffffffffffff0300000000000000",
);
const msg = CBOR.decode(data, cborTypedArrayTagger);
const msg = decode(data);

if (!Array.isArray(msg)) {
throw new Error("Expected Array");
if (!(msg instanceof BigInt64Array)) {
throw new Error("Expected BigInt64Array");
}
expect(msg).to.have.lengthOf(3);
expect(msg[0]).to.equal(1);
expect(msg[1]).to.equal(-2);
expect(msg[2]).to.equal(3);
expect(msg[0]).to.equal(BigInt(1));
expect(msg[1]).to.equal(BigInt(-2));
expect(msg[2]).to.equal(BigInt(3));
});

it("should convert tagged Float32Array", function () {
const data = hexToBuffer("d8554ccdcc8c3fcdcc0cc033335340");
const msg = CBOR.decode(data, cborTypedArrayTagger);
const msg = decode(data);

if (!(msg instanceof Float32Array)) {
throw new Error("Expected Float32Array");
Expand All @@ -127,7 +126,7 @@ describe("CBOR Typed Array Tagger", function () {
const data = hexToBuffer(
"d85658189a9999999999f13f9a999999999901c06666666666660a40",
);
const msg = CBOR.decode(data, cborTypedArrayTagger);
const msg = decode(data);

if (!(msg instanceof Float64Array)) {
throw new Error("Expected Float64Array");
Expand All @@ -140,7 +139,7 @@ describe("CBOR Typed Array Tagger", function () {

it("should be able to unpack two typed arrays", function () {
const data = hexToBuffer("82d8484308fe05d84d460100feff0300");
const msg = CBOR.decode(data, cborTypedArrayTagger);
const msg = decode(data);

if (!Array.isArray(msg)) {
throw new Error("Expected Array");
Expand Down
7 changes: 4 additions & 3 deletions test/transport.test.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ import type {
RosbridgeMessage,
RosbridgePngMessage,
} from "../src/types/protocol.ts";
import CBOR from "cbor-js";
import { encode } from "cbor2";
import * as fastpng from "fast-png";
import * as bson from "bson";
import * as ws from "ws";
Expand Down Expand Up @@ -287,8 +287,9 @@ describe("Transport", () => {
});

it("should handle CBOR message", async () => {
const successMessage = CBOR.encode({ op: "test" });
const failureMessage = CBOR.encode({ foo: "bar" });
// CBOR data comes as ArrayBuffer from WebSocket, not Uint8Array
const successMessage = encode({ op: "test" }).buffer;
const failureMessage = encode({ foo: "bar" }).buffer;

// -- SUCCESS -- //

Expand Down