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[Test] Stabilize message-translator tests on Node.js 26.4 #1555

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Merged
minggangw merged 3 commits into from
Jun 30, 2026
Merged

[Test] Stabilize message-translator tests on Node.js 26.4 #1555

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c44ceee
[Test] Stabilize message-translator tests on Node.js 26.4
minggangw Jun 29, 2026
70e5309
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minggangw Jun 29, 2026
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minggangw Jun 29, 2026
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17 changes: 17 additions & 0 deletions test/test-message-translator-complex.js
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Original file line number Diff line number Diff line change
Expand Up @@ -209,16 +209,33 @@ describe('Rclnodejs message translation: complex types', function () {
const MessageType = testData.pkg + '/msg/' + testData.type;
const publisher = node.createPublisher(MessageType, topic);
return new Promise((resolve, reject) => {
let timer;
const sub = node.createSubscription(MessageType, topic, (value) => {
if (deepEqual(value, v)) {
clearInterval(timer);
node.destroy();
resolve();
} else {
clearInterval(timer);
node.destroy();
console.log('got', value);
console.log('expected', v);
reject('case ' + i + '. Expected: ' + v + ', Got: ' + value);
}
Comment on lines 218 to 224
});
// Keep republishing until the subscription is matched and the
// message is received; a single publish can be lost while pub/sub
// discovery is still in progress.
const start = Date.now();
timer = setInterval(() => {
if (Date.now() - start > 55 * 1000) {
clearInterval(timer);
node.destroy();
reject('Timed out waiting for message');
return;
}
publisher.publish(v);
}, 100);
publisher.publish(v);
rclnodejs.spin(node);
});
Expand Down
62 changes: 58 additions & 4 deletions test/test-message-translator-primitive.js
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Original file line number Diff line number Diff line change
Expand Up @@ -94,18 +94,31 @@ describe('Rclnodejs message translation: primitive types', function () {
const MessageType = 'std_msgs/msg/' + testData.type;
const publisher = node.createPublisher(MessageType, topic);
return new Promise((resolve, reject) => {
let timer;
const sub = node.createSubscription(MessageType, topic, (value) => {
// For primitive types, msgs are defined as a single `.data` field
if (value.data === v) {
clearInterval(timer);
node.destroy();
resolve();
} else {
clearInterval(timer);
node.destroy();
reject(
'case ' + i + '. Expected: ' + v + ', Got: ' + value.data
);
}
});
const start = Date.now();
timer = setInterval(() => {
if (Date.now() - start > 55 * 1000) {
clearInterval(timer);
node.destroy();
reject('Timed out waiting for message');
return;
}
publisher.publish(v);
}, 100);
publisher.publish(v); // Short-cut form of publishing primitive types
rclnodejs.spin(node);
});
Expand All @@ -119,18 +132,31 @@ describe('Rclnodejs message translation: primitive types', function () {
const MessageType = 'std_msgs/msg/' + testData.type;
const publisher = node.createPublisher(MessageType, topic);
return new Promise((resolve, reject) => {
let timer;
const sub = node.createSubscription(MessageType, topic, (value) => {
// For primitive types, msgs are defined as a single `.data` field
if (value.data === v) {
clearInterval(timer);
node.destroy();
resolve();
} else {
clearInterval(timer);
node.destroy();
reject(
'case ' + i + '. Expected: ' + v + ', Got: ' + value.data
);
}
});
const start = Date.now();
timer = setInterval(() => {
if (Date.now() - start > 55 * 1000) {
clearInterval(timer);
node.destroy();
reject('Timed out waiting for message');
return;
}
publisher.publish({ data: v });
}, 100);
publisher.publish({ data: v }); // Ensure the original form of the message can be used
rclnodejs.spin(node);
});
Expand Down Expand Up @@ -221,27 +247,41 @@ describe('Rclnodejs message translation: primitive types array', function () {
const MessageType = 'std_msgs/msg/' + testData.type;
const publisher = node.createPublisher(MessageType, topic);
return new Promise((resolve, reject) => {
let timer;
const sub = node.createSubscription(MessageType, topic, (value) => {
// For primitive types, msgs are defined as a single `.data` field
if (
(isTypedArray(value.data) &&
deepEqual(Array.from(value.data), testData.values)) ||
deepEqual(value.data, testData.values)
) {
clearInterval(timer);
node.destroy();
resolve();
} else {
clearInterval(timer);
node.destroy();
reject('Expected: ' + testData.values + ', Got: ' + value.data);
}
});
publisher.publish({
const msg = {
layout: {
dim: [{ label: 'length', size: 0, stride: 0 }],
data_offset: 0,
},
data: testData.values,
});
};
const start = Date.now();
timer = setInterval(() => {
if (Date.now() - start > 55 * 1000) {
clearInterval(timer);
node.destroy();
reject('Timed out waiting for message');
return;
}
publisher.publish(msg);
}, 100);
publisher.publish(msg);
rclnodejs.spin(node);
});
}
Expand Down Expand Up @@ -478,16 +518,19 @@ describe('Rclnodejs message translation: TypedArray large data', function () {
const MessageType = 'std_msgs/msg/' + testData.type;
const publisher = node.createPublisher(MessageType, topic);
return new Promise((resolve, reject) => {
let timer;
const sub = node.createSubscription(MessageType, topic, (value) => {
// For primitive types, msgs are defined as a single `.data` field
if (
(isTypedArray(value.data) &&
deepEqual(Array.from(value.data), testData.values)) ||
deepEqual(value.data, testData.values)
) {
clearInterval(timer);
node.destroy();
resolve();
} else {
clearInterval(timer);
node.destroy();
reject(
'Expected: ' +
Expand All @@ -497,13 +540,24 @@ describe('Rclnodejs message translation: TypedArray large data', function () {
);
}
});
publisher.publish({
const msg = {
layout: {
dim: [{ label: 'length', size: 0, stride: 0 }],
data_offset: 0,
},
data: testData.values,
});
};
const start = Date.now();
timer = setInterval(() => {
if (Date.now() - start > 55 * 1000) {
clearInterval(timer);
node.destroy();
reject('Timed out waiting for message');
return;
}
publisher.publish(msg);
}, 100);
publisher.publish(msg);
rclnodejs.spin(node);
Comment on lines +550 to 561
});
}
Expand Down
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