15752436712

Committed 19 Jun 2025 07:44AM UTC coverage: 84.672% (-0.06%) from 84.731%

Build # 15752436712

Build Type

Pull #1173

github

Committed by

web-flow

Commit Message

Merge 6b96e9c99 into 688791eae

Pull Request Pull Request #1173: Add RMW serialize and deserialize functions

Coverage Stats

770 of 999 branches covered (77.08%)

Branch coverage included in aggregate %.

9 of 11 new or added lines in 2 files covered. (81.82%)

1898 of 2152 relevant lines covered (88.2%)

3199.38 hits per line

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71.43

/lib/serialization.js

// Copyright (c) 2025, The Robot Web Tools Contributors
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

'use strict';

const rclnodejs = require('bindings')('rclnodejs');

class Serialization {
  static serializeMessage(message, typeClass) {
    if (!(message instanceof typeClass)) {
      throw new TypeError('Message must be a valid ros2 message type');
    }
    return rclnodejs.serialize(
      typeClass.type().pkgName,
      typeClass.type().subFolder,
      typeClass.type().interfaceName,
      message.serialize()
    );
  }

  static deserializeMessage(buffer, typeClass) {
    if (!(buffer instanceof Buffer)) {
      throw new TypeError('Buffer is required for deserialization');
    }
    const rosMsg = new typeClass();
    rclnodejs.deserialize(
      typeClass.type().pkgName,
      typeClass.type().subFolder,
      typeClass.type().interfaceName,
      buffer,
      rosMsg.toRawROS()
    );
    return rosMsg;
  }
}

module.exports = Serialization;

1	// Copyright (c) 2025, The Robot Web Tools Contributors
2	//
3	// Licensed under the Apache License, Version 2.0 (the "License");
4	// you may not use this file except in compliance with the License.
5	// You may obtain a copy of the License at
6	//
7	// http://www.apache.org/licenses/LICENSE-2.0
8	//
9	// Unless required by applicable law or agreed to in writing, software
10	// distributed under the License is distributed on an "AS IS" BASIS,
11	// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12	// See the License for the specific language governing permissions and
13	// limitations under the License.
14
15	'use strict';
16
17	const rclnodejs = require('bindings')('rclnodejs');	208✔
18
19	class Serialization {
20	static serializeMessage(message, typeClass) {
21	if (!(message instanceof typeClass)) {	24!
NEW 22	throw new TypeError('Message must be a valid ros2 message type');	×
23	}
24	return rclnodejs.serialize(	24✔
25	typeClass.type().pkgName,
26	typeClass.type().subFolder,
27	typeClass.type().interfaceName,
28	message.serialize()
29	);
30	}
31
32	static deserializeMessage(buffer, typeClass) {
33	if (!(buffer instanceof Buffer)) {	24!
NEW 34	throw new TypeError('Buffer is required for deserialization');	×
35	}
36	const rosMsg = new typeClass();	24✔
37	rclnodejs.deserialize(	24✔
38	typeClass.type().pkgName,
39	typeClass.type().subFolder,
40	typeClass.type().interfaceName,
41	buffer,
42	rosMsg.toRawROS()
43	);
44	return rosMsg;	24✔
45	}
46	}
47
48	module.exports = Serialization;	208✔

RobotWebTools / rclnodejs / 15752436712

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