15771266924

Committed 20 Jun 2025 04:30AM UTC coverage: 84.672% (-0.06%) from 84.731%

Build # 15771266924

Build Type

push

github

Committed by

minggangw

Commit Message

Add RMW serialize and deserialize functions (#1173)

This PR introduces native and JavaScript-level serialization and deserialization for ROS 2 messages using RMW, complete with tests and helper functions.

- Adds C++ RMW bindings (`serialize`/`deserialize`) and registers them in the Node addon  
- Implements `Serialization` JS class and exports `serializeMessage`/`deserializeMessage` in `index.js`  
- Provides basic unit tests and fixes a naming typo (`destroyRawROS`)

Fix: #1172

Run Details

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%)

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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 {
  /**
   * Serialize a message to a buffer.
   * @param {object} message - The message to serialize.
   * @param {function} typeClass - The class of the message type to serialize.
   * @return {Buffer} The serialized message as a Buffer.
   */
  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()
    );
  }

  /**
   * Deserialize a message from a buffer.
   * @param {Buffer} buffer - The buffer containing the serialized message.
   * @param {function} typeClass - The class of the message type to deserialize into.
   * @return {object} The deserialized message object.
   */
  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	/**
21	* Serialize a message to a buffer.
22	* @param {object} message - The message to serialize.
23	* @param {function} typeClass - The class of the message type to serialize.
24	* @return {Buffer} The serialized message as a Buffer.
25	*/
26	static serializeMessage(message, typeClass) {
27	if (!(message instanceof typeClass)) {	24!
NEW 28	throw new TypeError('Message must be a valid ros2 message type');	×
29	}
30	return rclnodejs.serialize(	24✔
31	typeClass.type().pkgName,
32	typeClass.type().subFolder,
33	typeClass.type().interfaceName,
34	message.serialize()
35	);
36	}
37
38	/**
39	* Deserialize a message from a buffer.
40	* @param {Buffer} buffer - The buffer containing the serialized message.
41	* @param {function} typeClass - The class of the message type to deserialize into.
42	* @return {object} The deserialized message object.
43	*/
44	static deserializeMessage(buffer, typeClass) {
45	if (!(buffer instanceof Buffer)) {	24!
NEW 46	throw new TypeError('Buffer is required for deserialization');	×
47	}
48	const rosMsg = new typeClass();	24✔
49	rclnodejs.deserialize(	24✔
50	typeClass.type().pkgName,
51	typeClass.type().subFolder,
52	typeClass.type().interfaceName,
53	buffer,
54	rosMsg.toRawROS()
55	);
56	return rosMsg;	24✔
57	}
58	}
59
60	module.exports = Serialization;	208✔

RobotWebTools / rclnodejs / 15771266924

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