@foxglove/rosmsg-serialization
Version:
ROS1 (Robot Operating System) message serialization, for reading and writing bags and network messages
240 lines • 7.7 kB
JavaScript
const serializeString = (str) => {
const data = Buffer.from(str, "utf8");
const len = Buffer.alloc(4);
len.writeUInt32LE(data.byteLength, 0);
return Uint8Array.from([...len, ...data]);
};
const float32Buffer = (floats) => {
return new Uint8Array(Float32Array.from(floats).buffer);
};
const messageReaderTests = [
[`int8 sample # lowest`, [0x80], { sample: -128 }],
[`int8 sample # highest`, [0x7f], { sample: 127 }],
[`uint8 sample # lowest`, [0x00], { sample: 0 }],
[`uint8 sample # highest`, [0xff], { sample: 255 }],
[`int16 sample # lowest`, [0x00, 0x80], { sample: -32768 }],
[`int16 sample # highest`, [0xff, 0x7f], { sample: 32767 }],
[`uint16 sample # lowest`, [0x00, 0x00], { sample: 0 }],
[`uint16 sample # highest`, [0xff, 0xff], { sample: 65535 }],
[`int32 sample # lowest`, [0x00, 0x00, 0x00, 0x80], { sample: -2147483648 }],
[`int32 sample # highest`, [0xff, 0xff, 0xff, 0x7f], { sample: 2147483647 }],
[`uint32 sample # lowest`, [0x00, 0x00, 0x00, 0x00], { sample: 0 }],
[`uint32 sample # highest`, [0xff, 0xff, 0xff, 0xff], { sample: 4294967295 }],
[
`int64 sample # lowest`,
[0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80],
{ sample: -9223372036854775808n },
],
[
`int64 sample # highest`,
[0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x7f],
{ sample: 9223372036854775807n },
],
[`uint64 sample # lowest`, [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], { sample: 0n }],
[
`uint64 sample # highest`,
[0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff],
{ sample: 18446744073709551615n },
],
[`float32 sample`, float32Buffer([5.5]), { sample: 5.5 }],
[
`float64 sample`,
// eslint-disable-next-line @typescript-eslint/no-loss-of-precision
new Uint8Array(Float64Array.of(0.123456789121212121212).buffer),
// eslint-disable-next-line @typescript-eslint/no-loss-of-precision
{ sample: 0.123456789121212121212 },
],
[`time stamp`, [0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00], { stamp: { sec: 0, nsec: 1 } }],
[
`time stamp`,
[0xff, 0xff, 0xff, 0xff, 0xfe, 0xff, 0xff, 0xff],
{ stamp: { sec: 4294967295, nsec: 4294967294 } },
],
[
`duration stamp`,
[0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00],
{ stamp: { sec: 0, nsec: 1 } },
],
[
`duration stamp`,
[0xff, 0xff, 0xff, 0xff, 0xfe, 0xff, 0xff, 0xff],
{ stamp: { sec: -1, nsec: -2 } },
],
[
`int32[] arr`,
[
...[0x02, 0x00, 0x00, 0x00],
...new Uint8Array(Int32Array.of(3, 7).buffer),
],
{ arr: Int32Array.from([3, 7]) },
],
[`time[1] arr`, [0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00], { arr: [{ sec: 1, nsec: 2 }] }],
[
`duration[1] arr`,
[0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00],
{ arr: [{ sec: 1, nsec: 2 }] },
],
[
`time[] arr`,
[0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00],
{ arr: [{ sec: 2, nsec: 3 }] },
],
[
`duration[] arr`,
[0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00],
{ arr: [{ sec: 2, nsec: 3 }] },
],
// unaligned access
[
`uint8 blank\nint32[] arr`,
[
0x00,
...[0x02, 0x00, 0x00, 0x00],
...new Uint8Array(Int32Array.of(3, 7).buffer),
],
{ blank: 0, arr: Int32Array.from([3, 7]) },
],
[
`uint8 blank\ntime[] arr`,
[0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00],
{ blank: 0, arr: [{ sec: 2, nsec: 3 }] },
],
[`float32[2] arr`, float32Buffer([5.5, 6.5]), { arr: Float32Array.from([5.5, 6.5]) }],
[
`uint8 blank\nfloat32[2] arr`,
[0x00, ...float32Buffer([5.5, 6.5])],
{ blank: 0, arr: Float32Array.from([5.5, 6.5]) },
],
[
`float32[] arr`,
[
...[0x02, 0x00, 0x00, 0x00],
...float32Buffer([5.5, 6.5]),
],
{ arr: Float32Array.from([5.5, 6.5]) },
],
[
`uint8 blank\nfloat32[] arr`,
[0x00, ...[0x02, 0x00, 0x00, 0x00], ...float32Buffer([5.5, 6.5])],
{ blank: 0, arr: Float32Array.from([5.5, 6.5]) },
],
[
`float32[] first\nfloat32[] second`,
[
...[0x02, 0x00, 0x00, 0x00],
...float32Buffer([5.5, 6.5]),
...[0x02, 0x00, 0x00, 0x00],
...float32Buffer([5.5, 6.5]),
],
{
first: Float32Array.from([5.5, 6.5]),
second: Float32Array.from([5.5, 6.5]),
},
],
[`string sample # empty string`, serializeString(""), { sample: "" }],
[`string sample # some string`, serializeString("some string"), { sample: "some string" }],
[`string sample`, serializeString("毛地黄"), { sample: "毛地黄" }],
[`int8[4] first`, [0x00, 0xff, 0x80, 0x7f], { first: new Int8Array([0, -1, -128, 127]) }],
[
`int8[] first`,
[
...[0x04, 0x00, 0x00, 0x00],
0x00,
0xff,
0x80,
0x7f,
],
{ first: new Int8Array([0, -1, -128, 127]) },
],
[`uint8[4] first`, [0x00, 0xff, 0x80, 0x7f], { first: new Uint8Array([0, -1, -128, 127]) }],
[
`string[2] first`,
[...serializeString("one"), ...serializeString("longer string")],
{ first: ["one", "longer string"] },
],
[
`string[] first`,
[
...[0x02, 0x00, 0x00, 0x00],
...serializeString("one"),
...serializeString("longer string"),
],
{ first: ["one", "longer string"] },
],
// first size value after fixed size value
[`int8 first\nint8 second`, [0x80, 0x7f], { first: -128, second: 127 }],
[
`string first\nint8 second`,
[...serializeString("some string"), 0x80],
{ first: "some string", second: -128 },
],
[
`CustomType custom
============
MSG: custom_type/CustomType
uint8 first`,
[0x02],
{
custom: { first: 0x02 },
},
],
[
`CustomType[3] custom
============
MSG: custom_type/CustomType
uint8 first`,
[0x02, 0x03, 0x04],
{
custom: [{ first: 0x02 }, { first: 0x03 }, { first: 0x04 }],
},
],
[
`CustomType[] custom
============
MSG: custom_type/CustomType
uint8 first`,
[
...[0x03, 0x00, 0x00, 0x00],
0x02,
0x03,
0x04,
],
{
custom: [{ first: 0x02 }, { first: 0x03 }, { first: 0x04 }],
},
],
// ignore constants
[
`int8 STATUS_ONE = 1
int8 STATUS_TWO = 2
int8 status`,
[0x02],
{ status: 2 },
],
// An array of custom types which themselves have a custom type
// This tests an array's ability to properly size custom types
[
`CustomType[] custom
============
MSG: custom_type/CustomType
MoreCustom another
============
MSG: custom_type/MoreCustom
uint8 field`,
[
...[0x03, 0x00, 0x00, 0x00],
0x02,
0x03,
0x04,
],
{
custom: [
{ another: { field: 0x02 } },
{ another: { field: 0x03 } },
{ another: { field: 0x04 } },
],
},
],
];
export default messageReaderTests;
//# sourceMappingURL=messageReaderTests.js.map