@foxglove/rosmsg-serialization
Version:
ROS1 (Robot Operating System) message serialization, for reading and writing bags and network messages
54 lines • 2.22 kB
JavaScript
// This file incorporates work covered by the following copyright and
// permission notice:
//
// Copyright 2018-2021 Cruise LLC
//
// This source code is licensed under the Apache License, Version 2.0,
// found at http://www.apache.org/licenses/LICENSE-2.0
// You may not use this file except in compliance with the License.
import { parse as parseMessageDefinition } from "@foxglove/rosmsg";
import { MessageReader } from "./MessageReader";
import messageReaderTests from "./fixtures/messageReaderTests";
const getStringBuffer = (str) => {
const data = Buffer.from(str, "utf8");
const len = Buffer.alloc(4);
len.writeUInt32LE(data.byteLength, 0);
return Uint8Array.from([...len, ...data]);
};
describe("MessageReader", () => {
it.each(messageReaderTests)("should deserialize %s", (msgDef, arr, expected) => {
const buffer = Uint8Array.from(arr);
const reader = new MessageReader(parseMessageDefinition(msgDef));
// read aligned array
{
const read = reader.readMessage(buffer);
expect(read).toEqual(expected);
}
// read offset array
{
const offset = 4;
const fullArr = new Uint8Array(buffer.length + offset);
fullArr.set(buffer, offset);
const read = reader.readMessage(new Uint8Array(fullArr.buffer, fullArr.byteOffset + offset, fullArr.byteLength - offset));
expect(read).toEqual(expected);
}
});
it("freezes the resulting message if requested", () => {
// strict mode is required for Object.freeze to throw
"use strict";
const reader = new MessageReader(parseMessageDefinition("string firstName \n string lastName\nuint16 age"), {
freeze: true,
});
const buffer = Buffer.concat([
getStringBuffer("foo"),
getStringBuffer("bar"),
new Uint8Array([0x05, 0x00]),
]);
const output = reader.readMessage(buffer);
expect(output).toEqual({ firstName: "foo", lastName: "bar", age: 5 });
expect(() => {
output.firstName = "boooo";
}).toThrow();
});
});
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