@foxglove/ros1/dist/RosTcpMessageStream.test.js

Standalone TypeScript implementation of the ROS 1 (Robot Operating System) protocol with a pluggable transport layer

"use strict";
Object.defineProperty(exports, "__esModule", { value: true });
const RosTcpMessageStream_1 = require("./RosTcpMessageStream");
describe("RosTcpMessageStream", () => {
    it("decodes an empty message", () => {
        const stream = new RosTcpMessageStream_1.RosTcpMessageStream();
        let curMsg;
        stream.on("message", (msg) => (curMsg = msg));
        stream.addData(new Uint8Array());
        expect(curMsg).toBeUndefined();
        stream.addData(new Uint8Array([0]));
        expect(curMsg).toBeUndefined();
        stream.addData(new Uint8Array([0]));
        expect(curMsg).toBeUndefined();
        stream.addData(new Uint8Array([0]));
        expect(curMsg).toBeUndefined();
        stream.addData(new Uint8Array([0]));
        expect(curMsg).toEqual(new Uint8Array());
    });
    it("decodes small messages", () => {
        const stream = new RosTcpMessageStream_1.RosTcpMessageStream();
        let curMsg;
        stream.on("message", (msg) => (curMsg = msg));
        stream.addData(new Uint8Array());
        expect(curMsg).toBeUndefined();
        stream.addData(new Uint8Array([1]));
        expect(curMsg).toBeUndefined();
        stream.addData(new Uint8Array([0]));
        expect(curMsg).toBeUndefined();
        stream.addData(new Uint8Array([0]));
        expect(curMsg).toBeUndefined();
        stream.addData(new Uint8Array([0]));
        expect(curMsg).toBeUndefined();
        stream.addData(new Uint8Array([42]));
        expect(curMsg).toEqual(new Uint8Array([42]));
        curMsg = undefined;
        stream.addData(new Uint8Array([2]));
        expect(curMsg).toBeUndefined();
        stream.addData(new Uint8Array([0, 0]));
        expect(curMsg).toBeUndefined();
        stream.addData(new Uint8Array([0, 43, 44]));
        expect(curMsg).toEqual(new Uint8Array([43, 44]));
        curMsg = undefined;
        stream.addData(new Uint8Array([3]));
        expect(curMsg).toBeUndefined();
        stream.addData(new Uint8Array([]));
        expect(curMsg).toBeUndefined();
        stream.addData(new Uint8Array([0]));
        expect(curMsg).toBeUndefined();
        stream.addData(new Uint8Array([0, 0, 45]));
        stream.addData(new Uint8Array([46, 47, 1]));
        expect(curMsg).toEqual(new Uint8Array([45, 46, 47]));
        curMsg = undefined;
        stream.addData(new Uint8Array([0, 0, 0, 48, 0]));
        expect(curMsg).toEqual(new Uint8Array([48]));
        curMsg = undefined;
        stream.addData(new Uint8Array([0, 0, 0]));
        expect(curMsg).toEqual(new Uint8Array([]));
    });
    it("fails on invalid stream data", () => {
        // 1000000001 === 0x3B9ACA01
        expect(() => new RosTcpMessageStream_1.RosTcpMessageStream().addData(new Uint8Array([0x01, 0xca, 0x9a, 0x3b]))).toThrow();
        expect(() => new RosTcpMessageStream_1.RosTcpMessageStream().addData(new Uint8Array([0x00, 0xca, 0x9a, 0x3b]))).not.toThrow();
    });
});
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