rclnodejs/test_xproc_data.js

ROS2.0 JavaScript client with Node.js

// Cross-process data integrity test: validates data from external ROS2 publisher
'use strict';

const rclnodejs = require('./index.js');

const EXPECTED_DATA = [1.0, 2.0, 3.0];

async function main() {
  await rclnodejs.init();

  const node = new rclnodejs.Node('xproc_data_sub');
  let msgCount = 0;
  let errCount = 0;
  const errors = [];

  node.createSubscription(
    'std_msgs/msg/Float64MultiArray',
    '/xproc_data_topic',
    (msg) => {
      msgCount++;

      if (!msg || !msg.data) {
        errCount++;
        errors.push(`msg#${msgCount}: missing data`);
      } else {
        const arr = Array.from(msg.data);
        for (let i = 0; i < EXPECTED_DATA.length; i++) {
          if (Math.abs(arr[i] - EXPECTED_DATA[i]) > 1e-9) {
            errCount++;
            errors.push(
              `msg#${msgCount}: data[${i}] expected ${EXPECTED_DATA[i]}, got ${arr[i]}`
            );
          }
        }
        if (arr.length !== EXPECTED_DATA.length) {
          errCount++;
          errors.push(
            `msg#${msgCount}: expected ${EXPECTED_DATA.length} elements, got ${arr.length}`
          );
        }
      }
    }
  );

  rclnodejs.spin(node);

  console.log('Listening on /xproc_data_topic for 10s...');

  setTimeout(() => {
    console.log(`\n=== Cross-Process Data Integrity ===`);
    console.log(`Received:    ${msgCount} messages`);
    console.log(`Data errors: ${errCount}`);
    if (errors.length > 0) {
      errors.slice(0, 10).forEach((e) => console.log(`  ${e}`));
    }
    const pass = errCount === 0 && msgCount > 0;
    console.log(`Result:      ${pass ? 'PASS' : 'FAIL'}`);
    node.stop();
    rclnodejs.shutdown();
    process.exit(0);
  }, 10000);
}

main().catch(console.error);