19963524257

Committed 05 Dec 2025 12:51PM UTC coverage: 80.404% (-2.3%) from 82.751%

Build # 19963524257

Build Type

Pull #1341

github

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web-flow

Commit Message

Merge 636851158 into faaa2d4b5

Pull Request Pull Request #1341: Enhance Message Validation

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/lib/message_validation.js

// Copyright (c) 2025 Mahmoud Alghalayini. All rights reserved.
//
// 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 { MessageValidationError, TypeValidationError } = require('./errors.js');

/**
 * Validation issue problem types
 * @enum {string}
 */
const ValidationProblem = {
  /** Field exists in object but not in message schema */
  UNKNOWN_FIELD: 'UNKNOWN_FIELD',
  /** Field type doesn't match expected type */
  TYPE_MISMATCH: 'TYPE_MISMATCH',
  /** Required field is missing */
  MISSING_FIELD: 'MISSING_FIELD',
  /** Array length constraint violated */
  ARRAY_LENGTH: 'ARRAY_LENGTH',
  /** Value is out of valid range */
  OUT_OF_RANGE: 'OUT_OF_RANGE',
  /** Nested message validation failed */
  NESTED_ERROR: 'NESTED_ERROR',
};

/**
 * Map ROS primitive types to JavaScript types
 */
const PRIMITIVE_TYPE_MAP = {
  bool: 'boolean',
  int8: 'number',
  uint8: 'number',
  int16: 'number',
  uint16: 'number',
  int32: 'number',
  uint32: 'number',
  int64: 'bigint',
  uint64: 'bigint',
  float32: 'number',
  float64: 'number',
  char: 'number',
  byte: 'number',
  string: 'string',
  wstring: 'string',
};

/**
 * Check if value is a TypedArray
 * @param {any} value - Value to check
 * @returns {boolean} True if TypedArray
 */
function isTypedArray(value) {
  return ArrayBuffer.isView(value) && !(value instanceof DataView);
}

/**
 * Get the JavaScript type string for a value
 * @param {any} value - Value to get type of
 * @returns {string} Type description
 */
function getValueType(value) {
  if (value === null) return 'null';
  if (value === undefined) return 'undefined';
  if (Array.isArray(value)) return 'array';
  if (isTypedArray(value)) return 'TypedArray';
  return typeof value;
}

/**
 * Resolve a type class from various input formats
 * @param {string|object|function} typeClass - Type identifier
 * @param {function} [loader] - Interface loader function
 * @returns {function|null} The resolved type class or null
 */
function resolveTypeClass(typeClass, loader) {
  if (typeof typeClass === 'function') {
    return typeClass;
  }

  if (loader) {
    try {
      return loader(typeClass);
    } catch {
      return null;
    }
  }

  return null;
}

/**
 * Get message type string from type class
 * @param {function} typeClass - Message type class
 * @returns {string} Message type string (e.g., 'std_msgs/msg/String')
 */
function getMessageTypeString(typeClass) {
  if (typeof typeClass.type === 'function') {
    const t = typeClass.type();
    return `${t.pkgName}/${t.subFolder}/${t.interfaceName}`;
  }
  return 'unknown';
}

/**
 * Get the schema definition for a message type
 * @param {function|string|object} typeClass - Message type class or identifier
 * @param {function} [loader] - Interface loader function (required if typeClass is string/object)
 * @returns {object|null} Schema definition with fields and constants, or null if not found
 * @example
 * const schema = getMessageSchema(StringClass);
 * // Returns: {
 * //   fields: [{name: 'data', type: {type: 'string', isPrimitiveType: true, ...}}],
 * //   constants: [],
 * //   messageType: 'std_msgs/msg/String'
 * // }
 */
function getMessageSchema(typeClass, loader) {
  const resolved = resolveTypeClass(typeClass, loader);
  if (!resolved || !resolved.ROSMessageDef) {
    return null;
  }

  const def = resolved.ROSMessageDef;
  return {
    fields: def.fields || [],
    constants: def.constants || [],
    messageType: getMessageTypeString(resolved),
    baseType: def.baseType,
  };
}

/**
 * Get field names for a message type
 * @param {function|string|object} typeClass - Message type class or identifier
 * @param {function} [loader] - Interface loader function
 * @returns {string[]} Array of field names
 */
function getFieldNames(typeClass, loader) {
  const schema = getMessageSchema(typeClass, loader);
  if (!schema) return [];
  return schema.fields.map((f) => f.name);
}

/**
 * Get type information for a specific field
 * @param {function|string|object} typeClass - Message type class or identifier
 * @param {string} fieldName - Name of the field
 * @param {function} [loader] - Interface loader function
 * @returns {object|null} Field type information or null if not found
 */
function getFieldType(typeClass, fieldName, loader) {
  const schema = getMessageSchema(typeClass, loader);
  if (!schema) return null;

  const field = schema.fields.find((f) => f.name === fieldName);
  return field ? field.type : null;
}

/**
 * Validate a primitive value against its expected type
 * @param {any} value - Value to validate
 * @param {object} fieldType - Field type definition
 * @returns {object|null} Validation issue or null if valid
 */
function validatePrimitiveValue(value, fieldType) {
  const expectedJsType = PRIMITIVE_TYPE_MAP[fieldType.type];
  const actualType = typeof value;

  if (!expectedJsType) {
    return null; // Unknown primitive type, skip validation
  }

  // Allow number for bigint fields (will be converted)
  if (expectedJsType === 'bigint' && actualType === 'number') {
    return null;
  }

  if (actualType !== expectedJsType) {
    return {
      problem: ValidationProblem.TYPE_MISMATCH,
      expected: expectedJsType,
      received: actualType,
    };
  }

  return null;
}

/**
 * Validate array constraints
 * @param {any} value - Array value to validate
 * @param {object} fieldType - Field type definition
 * @returns {object|null} Validation issue or null if valid
 */
function validateArrayConstraints(value, fieldType) {
  if (!Array.isArray(value) && !isTypedArray(value)) {
    return {
      problem: ValidationProblem.TYPE_MISMATCH,
      expected: 'array',
      received: getValueType(value),
    };
  }

  const length = value.length;

  // Fixed size array
  if (fieldType.isFixedSizeArray && length !== fieldType.arraySize) {
    return {
      problem: ValidationProblem.ARRAY_LENGTH,
      expected: `exactly ${fieldType.arraySize} elements`,
      received: `${length} elements`,
    };
  }

  // Upper bound array
  if (fieldType.isUpperBound && length > fieldType.arraySize) {
    return {
      problem: ValidationProblem.ARRAY_LENGTH,
      expected: `at most ${fieldType.arraySize} elements`,
      received: `${length} elements`,
    };
  }

  return null;
}

/**
 * Validate a message object against its schema
 * @param {object} obj - Plain object to validate
 * @param {function|string|object} typeClass - Message type class or identifier
 * @param {object} [options] - Validation options
 * @param {boolean} [options.strict=false] - If true, unknown fields cause validation failure
 * @param {boolean} [options.checkTypes=true] - If true, validate field types
 * @param {boolean} [options.checkRequired=false] - If true, check for missing fields
 * @param {string} [options.path=''] - Current path for nested validation (internal use)
 * @param {function} [options.loader] - Interface loader function
 * @returns {{valid: boolean, issues: Array<object>}} Validation result
 */
function validateMessage(obj, typeClass, options = {}) {
  const {
    strict = false,
    checkTypes = true,
    checkRequired = false,
    path = '',
    loader,
  } = options;

  const issues = [];
  const resolved = resolveTypeClass(typeClass, loader);

  if (!resolved) {
    issues.push({
      field: path || '(root)',
      problem: 'INVALID_TYPE_CLASS',
      expected: 'valid message type class',
      received: typeof typeClass,
    });
    return { valid: false, issues };
  }

  const schema = getMessageSchema(resolved);
  if (!schema) {
    issues.push({
      field: path || '(root)',
      problem: 'NO_SCHEMA',
      expected: 'message with ROSMessageDef',
      received: 'class without schema',
    });
    return { valid: false, issues };
  }

  if (obj === null || obj === undefined) {
    issues.push({
      field: path || '(root)',
      problem: ValidationProblem.TYPE_MISMATCH,
      expected: 'object',
      received: String(obj),
    });
    return { valid: false, issues };
  }

  const type = typeof obj;
  if (
    type === 'string' ||
    type === 'number' ||
    type === 'boolean' ||
    type === 'bigint'
  ) {
    if (schema.fields.length === 1 && schema.fields[0].name === 'data') {
      const fieldType = schema.fields[0].type;
      if (checkTypes && fieldType.isPrimitiveType) {
        const typeIssue = validatePrimitiveValue(obj, fieldType);
        if (typeIssue) {
          issues.push({
            field: path ? `${path}.data` : 'data',
            ...typeIssue,
          });
        }
      }
      return { valid: issues.length === 0, issues };
    }
  }

  if (type !== 'object') {
    issues.push({
      field: path || '(root)',
      problem: ValidationProblem.TYPE_MISMATCH,
      expected: 'object',
      received: type,
    });
    return { valid: false, issues };
  }

  const fieldNames = new Set(schema.fields.map((f) => f.name));
  const objKeys = Object.keys(obj);

  if (strict) {
    for (const key of objKeys) {
      if (!fieldNames.has(key)) {
        issues.push({
          field: path ? `${path}.${key}` : key,
          problem: ValidationProblem.UNKNOWN_FIELD,
        });
      }
    }
  }

  for (const field of schema.fields) {
    const fieldPath = path ? `${path}.${field.name}` : field.name;
    const value = obj[field.name];
    const fieldType = field.type;

    if (field.name.startsWith('_')) continue;

    if (value === undefined) {
      if (checkRequired) {
        issues.push({
          field: fieldPath,
          problem: ValidationProblem.MISSING_FIELD,
          expected: fieldType.type,
        });
      }
      continue;
    }

    if (fieldType.isArray) {
      const arrayIssue = validateArrayConstraints(value, fieldType);
      if (arrayIssue) {
        issues.push({ field: fieldPath, ...arrayIssue });
        continue;
      }

      if (checkTypes && Array.isArray(value) && value.length > 0) {
        if (fieldType.isPrimitiveType) {
          for (let i = 0; i < value.length; i++) {
            const elemIssue = validatePrimitiveValue(value[i], fieldType);
            if (elemIssue) {
              issues.push({
                field: `${fieldPath}[${i}]`,
                ...elemIssue,
              });
            }
          }
        } else {
          for (let i = 0; i < value.length; i++) {
            const nestedResult = validateMessage(
              value[i],
              getNestedTypeClass(resolved, field.name, loader),
              {
                strict,
                checkTypes,
                checkRequired,
                path: `${fieldPath}[${i}]`,
                loader,
              }
            );
            if (!nestedResult.valid) {
              issues.push(...nestedResult.issues);
            }
          }
        }
      }
    } else if (fieldType.isPrimitiveType) {
      if (checkTypes) {
        const typeIssue = validatePrimitiveValue(value, fieldType);
        if (typeIssue) {
          issues.push({ field: fieldPath, ...typeIssue });
        }
      }
    } else {
      if (value !== null && typeof value === 'object') {
        const nestedTypeClass = getNestedTypeClass(
          resolved,
          field.name,
          loader
        );
        if (nestedTypeClass) {
          const nestedResult = validateMessage(value, nestedTypeClass, {
            strict,
            checkTypes,
            checkRequired,
            path: fieldPath,
            loader,
          });
          if (!nestedResult.valid) {
            issues.push(...nestedResult.issues);
          }
        }
      } else if (checkTypes && value !== null) {
        issues.push({
          field: fieldPath,
          problem: ValidationProblem.TYPE_MISMATCH,
          expected: 'object',
          received: getValueType(value),
        });
      }
    }
  }

  return { valid: issues.length === 0, issues };
}

/**
 * Get the type class for a nested field
 * @param {function} parentTypeClass - Parent message type class
 * @param {string} fieldName - Field name
 * @param {function} [loader] - Interface loader function
 * @returns {function|null} Nested type class or null
 */
function getNestedTypeClass(parentTypeClass, fieldName, loader) {
  try {
    const instance = new parentTypeClass();
    const fieldValue = instance[fieldName];

    if (
      fieldValue &&
      fieldValue.constructor &&
      fieldValue.constructor.ROSMessageDef
    ) {
      return fieldValue.constructor;
    }

    if (
      fieldValue &&
      fieldValue.classType &&
      fieldValue.classType.elementType
    ) {
      return fieldValue.classType.elementType;
    }
  } catch {
    const schema = getMessageSchema(parentTypeClass);
    if (schema && loader) {
      const field = schema.fields.find((f) => f.name === fieldName);
      if (field && !field.type.isPrimitiveType) {
        const typeName = `${field.type.pkgName}/msg/${field.type.type}`;
        return resolveTypeClass(typeName, loader);
      }
    }
  }
  return null;
}

/**
 * Validate a message and throw if invalid
 * @param {object} obj - Plain object to validate
 * @param {function|string|object} typeClass - Message type class or identifier
 * @param {object} [options] - Validation options (same as validateMessage)
 * @throws {MessageValidationError} If validation fails
 * @returns {void}
 */
function assertValidMessage(obj, typeClass, options = {}) {
  const result = validateMessage(obj, typeClass, options);

  if (!result.valid) {
    const resolved = resolveTypeClass(typeClass, options.loader);
    const messageType = resolved
      ? getMessageTypeString(resolved)
      : String(typeClass);
    throw new MessageValidationError(messageType, result.issues);
  }
}

/**
 * Create a validator function for a specific message type
 * @param {function|string|object} typeClass - Message type class or identifier
 * @param {object} [defaultOptions] - Default validation options
 * @param {function} [loader] - Interface loader function
 * @returns {function} Validator function that takes (obj, options?) and returns validation result
 */
function createMessageValidator(typeClass, defaultOptions = {}, loader) {
  const resolved = resolveTypeClass(typeClass, loader);
  if (!resolved) {
    throw new TypeValidationError(
      'typeClass',
      typeClass,
      'valid message type class'
    );
  }

  return function validator(obj, options = {}) {
    return validateMessage(obj, resolved, {
      ...defaultOptions,
      ...options,
      loader,
    });
  };
}

module.exports = {
  ValidationProblem,

  getMessageSchema,
  getFieldNames,
  getFieldType,

  validateMessage,
  assertValidMessage,
  createMessageValidator,

  getMessageTypeString,
};

1	// Copyright (c) 2025 Mahmoud Alghalayini. All rights reserved.
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 { MessageValidationError, TypeValidationError } = require('./errors.js');	26✔
18
19	/**
20	* Validation issue problem types
21	* @enum {string}
22	*/
23	const ValidationProblem = {	26✔
24	/** Field exists in object but not in message schema */
25	UNKNOWN_FIELD: 'UNKNOWN_FIELD',
26	/** Field type doesn't match expected type */
27	TYPE_MISMATCH: 'TYPE_MISMATCH',
28	/** Required field is missing */
29	MISSING_FIELD: 'MISSING_FIELD',
30	/** Array length constraint violated */
31	ARRAY_LENGTH: 'ARRAY_LENGTH',
32	/** Value is out of valid range */
33	OUT_OF_RANGE: 'OUT_OF_RANGE',
34	/** Nested message validation failed */
35	NESTED_ERROR: 'NESTED_ERROR',
36	};
37
38	/**
39	* Map ROS primitive types to JavaScript types
40	*/
41	const PRIMITIVE_TYPE_MAP = {	26✔
42	bool: 'boolean',
43	int8: 'number',
44	uint8: 'number',
45	int16: 'number',
46	uint16: 'number',
47	int32: 'number',
48	uint32: 'number',
49	int64: 'bigint',
50	uint64: 'bigint',
51	float32: 'number',
52	float64: 'number',
53	char: 'number',
54	byte: 'number',
55	string: 'string',
56	wstring: 'string',
57	};
58
59	/**
60	* Check if value is a TypedArray
61	* @param {any} value - Value to check
62	* @returns {boolean} True if TypedArray
63	*/
64	function isTypedArray(value) {
NEW 65	return ArrayBuffer.isView(value) && !(value instanceof DataView);	×
66	}
67
68	/**
69	* Get the JavaScript type string for a value
70	* @param {any} value - Value to get type of
71	* @returns {string} Type description
72	*/
73	function getValueType(value) {
NEW 74	if (value === null) return 'null';	×
NEW 75	if (value === undefined) return 'undefined';	×
NEW 76	if (Array.isArray(value)) return 'array';	×
NEW 77	if (isTypedArray(value)) return 'TypedArray';	×
NEW 78	return typeof value;	×
79	}
80
81	/**
82	* Resolve a type class from various input formats
83	* @param {string\|object\|function} typeClass - Type identifier
84	* @param {function} [loader] - Interface loader function
85	* @returns {function\|null} The resolved type class or null
86	*/
87	function resolveTypeClass(typeClass, loader) {
88	if (typeof typeClass === 'function') {	57✔
89	return typeClass;	56✔
90	}
91
92	if (loader) {	1!
NEW 93	try {	×
NEW 94	return loader(typeClass);	×
95	} catch {
NEW 96	return null;	×
97	}
98	}
99
100	return null;	1✔
101	}
102
103	/**
104	* Get message type string from type class
105	* @param {function} typeClass - Message type class
106	* @returns {string} Message type string (e.g., 'std_msgs/msg/String')
107	*/
108	function getMessageTypeString(typeClass) {
109	if (typeof typeClass.type === 'function') {	32!
110	const t = typeClass.type();	32✔
111	return `${t.pkgName}/${t.subFolder}/${t.interfaceName}`;	32✔
112	}
NEW 113	return 'unknown';	×
114	}
115
116	/**
117	* Get the schema definition for a message type
118	* @param {function\|string\|object} typeClass - Message type class or identifier
119	* @param {function} [loader] - Interface loader function (required if typeClass is string/object)
120	* @returns {object\|null} Schema definition with fields and constants, or null if not found
121	* @example
122	* const schema = getMessageSchema(StringClass);
123	* // Returns: {
124	* // fields: [{name: 'data', type: {type: 'string', isPrimitiveType: true, ...}}],
125	* // constants: [],
126	* // messageType: 'std_msgs/msg/String'
127	* // }
128	*/
129	function getMessageSchema(typeClass, loader) {
130	const resolved = resolveTypeClass(typeClass, loader);	29✔
131	if (!resolved \|\| !resolved.ROSMessageDef) {	29✔
132	return null;	1✔
133	}
134
135	const def = resolved.ROSMessageDef;	28✔
136	return {	28✔
137	fields: def.fields \|\| [],	28!
138	constants: def.constants \|\| [],	28!
139	messageType: getMessageTypeString(resolved),
140	baseType: def.baseType,
141	};
142	}
143
144	/**
145	* Get field names for a message type
146	* @param {function\|string\|object} typeClass - Message type class or identifier
147	* @param {function} [loader] - Interface loader function
148	* @returns {string[]} Array of field names
149	*/
150	function getFieldNames(typeClass, loader) {
151	const schema = getMessageSchema(typeClass, loader);	2✔
152	if (!schema) return [];	2!
153	return schema.fields.map((f) => f.name);	3✔
154	}
155
156	/**
157	* Get type information for a specific field
158	* @param {function\|string\|object} typeClass - Message type class or identifier
159	* @param {string} fieldName - Name of the field
160	* @param {function} [loader] - Interface loader function
161	* @returns {object\|null} Field type information or null if not found
162	*/
163	function getFieldType(typeClass, fieldName, loader) {
164	const schema = getMessageSchema(typeClass, loader);	2✔
165	if (!schema) return null;	2!
166
167	const field = schema.fields.find((f) => f.name === fieldName);	2✔
168	return field ? field.type : null;	2✔
169	}
170
171	/**
172	* Validate a primitive value against its expected type
173	* @param {any} value - Value to validate
174	* @param {object} fieldType - Field type definition
175	* @returns {object\|null} Validation issue or null if valid
176	*/
177	function validatePrimitiveValue(value, fieldType) {
178	const expectedJsType = PRIMITIVE_TYPE_MAP[fieldType.type];	26✔
179	const actualType = typeof value;	26✔
180
181	if (!expectedJsType) {	26!
NEW 182	return null; // Unknown primitive type, skip validation	×
183	}
184
185	// Allow number for bigint fields (will be converted)
186	if (expectedJsType === 'bigint' && actualType === 'number') {	26!
NEW 187	return null;	×
188	}
189
190	if (actualType !== expectedJsType) {	26✔
191	return {	5✔
192	problem: ValidationProblem.TYPE_MISMATCH,
193	expected: expectedJsType,
194	received: actualType,
195	};
196	}
197
198	return null;	21✔
199	}
200
201	/**
202	* Validate array constraints
203	* @param {any} value - Array value to validate
204	* @param {object} fieldType - Field type definition
205	* @returns {object\|null} Validation issue or null if valid
206	*/
207	function validateArrayConstraints(value, fieldType) {
NEW 208	if (!Array.isArray(value) && !isTypedArray(value)) {	×
NEW 209	return {	×
210	problem: ValidationProblem.TYPE_MISMATCH,
211	expected: 'array',
212	received: getValueType(value),
213	};
214	}
215
NEW 216	const length = value.length;	×
217
218	// Fixed size array
NEW 219	if (fieldType.isFixedSizeArray && length !== fieldType.arraySize) {	×
NEW 220	return {	×
221	problem: ValidationProblem.ARRAY_LENGTH,
222	expected: `exactly ${fieldType.arraySize} elements`,
223	received: `${length} elements`,
224	};
225	}
226
227	// Upper bound array
NEW 228	if (fieldType.isUpperBound && length > fieldType.arraySize) {	×
NEW 229	return {	×
230	problem: ValidationProblem.ARRAY_LENGTH,
231	expected: `at most ${fieldType.arraySize} elements`,
232	received: `${length} elements`,
233	};
234	}
235
NEW 236	return null;	×
237	}
238
239	/**
240	* Validate a message object against its schema
241	* @param {object} obj - Plain object to validate
242	* @param {function\|string\|object} typeClass - Message type class or identifier
243	* @param {object} [options] - Validation options
244	* @param {boolean} [options.strict=false] - If true, unknown fields cause validation failure
245	* @param {boolean} [options.checkTypes=true] - If true, validate field types
246	* @param {boolean} [options.checkRequired=false] - If true, check for missing fields
247	* @param {string} [options.path=''] - Current path for nested validation (internal use)
248	* @param {function} [options.loader] - Interface loader function
249	* @returns {{valid: boolean, issues: Array<object>}} Validation result
250	*/
251	function validateMessage(obj, typeClass, options = {}) {	7✔
252	const {
253	strict = false,	9✔
254	checkTypes = true,	15✔
255	checkRequired = false,	18✔
256	path = '',	18✔
257	loader,
258	} = options;	22✔
259
260	const issues = [];	22✔
261	const resolved = resolveTypeClass(typeClass, loader);	22✔
262
263	if (!resolved) {	22!
NEW 264	issues.push({	×
265	field: path \|\| '(root)',	×
266	problem: 'INVALID_TYPE_CLASS',
267	expected: 'valid message type class',
268	received: typeof typeClass,
269	});
NEW 270	return { valid: false, issues };	×
271	}
272
273	const schema = getMessageSchema(resolved);	22✔
274	if (!schema) {	22!
NEW 275	issues.push({	×
276	field: path \|\| '(root)',	×
277	problem: 'NO_SCHEMA',
278	expected: 'message with ROSMessageDef',
279	received: 'class without schema',
280	});
NEW 281	return { valid: false, issues };	×
282	}
283
284	if (obj === null \|\| obj === undefined) {	22✔
285	issues.push({	2✔
286	field: path \|\| '(root)',	4✔
287	problem: ValidationProblem.TYPE_MISMATCH,
288	expected: 'object',
289	received: String(obj),
290	});
291	return { valid: false, issues };	2✔
292	}
293
294	const type = typeof obj;	20✔
295	if (	20✔
296	type === 'string' \|\|	77✔
297	type === 'number' \|\|
298	type === 'boolean' \|\|
299	type === 'bigint'
300	) {
301	if (schema.fields.length === 1 && schema.fields[0].name === 'data') {	1!
302	const fieldType = schema.fields[0].type;	1✔
303	if (checkTypes && fieldType.isPrimitiveType) {	1!
304	const typeIssue = validatePrimitiveValue(obj, fieldType);	1✔
305	if (typeIssue) {	1!
NEW 306	issues.push({	×
307	field: path ? `${path}.data` : 'data',	×
308	...typeIssue,
309	});
310	}
311	}
312	return { valid: issues.length === 0, issues };	1✔
313	}
314	}
315
316	if (type !== 'object') {	19!
NEW 317	issues.push({	×
318	field: path \|\| '(root)',	×
319	problem: ValidationProblem.TYPE_MISMATCH,
320	expected: 'object',
321	received: type,
322	});
NEW 323	return { valid: false, issues };	×
324	}
325
326	const fieldNames = new Set(schema.fields.map((f) => f.name));	29✔
327	const objKeys = Object.keys(obj);	19✔
328
329	if (strict) {	19✔
330	for (const key of objKeys) {	7✔
331	if (!fieldNames.has(key)) {	10✔
332	issues.push({	3✔
333	field: path ? `${path}.${key}` : key,	3!
334	problem: ValidationProblem.UNKNOWN_FIELD,
335	});
336	}
337	}
338	}
339
340	for (const field of schema.fields) {	19✔
341	const fieldPath = path ? `${path}.${field.name}` : field.name;	29✔
342	const value = obj[field.name];	29✔
343	const fieldType = field.type;	29✔
344
345	if (field.name.startsWith('_')) continue;	29!
346
347	if (value === undefined) {	29!
NEW 348	if (checkRequired) {	×
NEW 349	issues.push({	×
350	field: fieldPath,
351	problem: ValidationProblem.MISSING_FIELD,
352	expected: fieldType.type,
353	});
354	}
NEW 355	continue;	×
356	}
357
358	if (fieldType.isArray) {	29!
NEW 359	const arrayIssue = validateArrayConstraints(value, fieldType);	×
NEW 360	if (arrayIssue) {	×
NEW 361	issues.push({ field: fieldPath, ...arrayIssue });	×
NEW 362	continue;	×
363	}
364
NEW 365	if (checkTypes && Array.isArray(value) && value.length > 0) {	×
NEW 366	if (fieldType.isPrimitiveType) {	×
NEW 367	for (let i = 0; i < value.length; i++) {	×
NEW 368	const elemIssue = validatePrimitiveValue(value[i], fieldType);	×
NEW 369	if (elemIssue) {	×
NEW 370	issues.push({	×
371	field: `${fieldPath}[${i}]`,
372	...elemIssue,
373	});
374	}
375	}
376	} else {
NEW 377	for (let i = 0; i < value.length; i++) {	×
NEW 378	const nestedResult = validateMessage(	×
379	value[i],
380	getNestedTypeClass(resolved, field.name, loader),
381	{
382	strict,
383	checkTypes,
384	checkRequired,
385	path: `${fieldPath}[${i}]`,
386	loader,
387	}
388	);
NEW 389	if (!nestedResult.valid) {	×
NEW 390	issues.push(...nestedResult.issues);	×
391	}
392	}
393	}
394	}
395	} else if (fieldType.isPrimitiveType) {	29✔
396	if (checkTypes) {	25!
397	const typeIssue = validatePrimitiveValue(value, fieldType);	25✔
398	if (typeIssue) {	25✔
399	issues.push({ field: fieldPath, ...typeIssue });	5✔
400	}
401	}
402	} else {
403	if (value !== null && typeof value === 'object') {	4!
404	const nestedTypeClass = getNestedTypeClass(	4✔
405	resolved,
406	field.name,
407	loader
408	);
409	if (nestedTypeClass) {	4!
410	const nestedResult = validateMessage(value, nestedTypeClass, {	4✔
411	strict,
412	checkTypes,
413	checkRequired,
414	path: fieldPath,
415	loader,
416	});
417	if (!nestedResult.valid) {	4✔
418	issues.push(...nestedResult.issues);	1✔
419	}
420	}
NEW 421	} else if (checkTypes && value !== null) {	×
NEW 422	issues.push({	×
423	field: fieldPath,
424	problem: ValidationProblem.TYPE_MISMATCH,
425	expected: 'object',
426	received: getValueType(value),
427	});
428	}
429	}
430	}
431
432	return { valid: issues.length === 0, issues };	19✔
433	}
434
435	/**
436	* Get the type class for a nested field
437	* @param {function} parentTypeClass - Parent message type class
438	* @param {string} fieldName - Field name
439	* @param {function} [loader] - Interface loader function
440	* @returns {function\|null} Nested type class or null
441	*/
442	function getNestedTypeClass(parentTypeClass, fieldName, loader) {
443	try {	4✔
444	const instance = new parentTypeClass();	4✔
445	const fieldValue = instance[fieldName];	4✔
446
447	if (	4!
448	fieldValue &&	12✔
449	fieldValue.constructor &&
450	fieldValue.constructor.ROSMessageDef
451	) {
452	return fieldValue.constructor;	4✔
453	}
454
NEW 455	if (	×
456	fieldValue &&	×
457	fieldValue.classType &&
458	fieldValue.classType.elementType
459	) {
NEW 460	return fieldValue.classType.elementType;	×
461	}
462	} catch {
NEW 463	const schema = getMessageSchema(parentTypeClass);	×
NEW 464	if (schema && loader) {	×
NEW 465	const field = schema.fields.find((f) => f.name === fieldName);	×
NEW 466	if (field && !field.type.isPrimitiveType) {	×
NEW 467	const typeName = `${field.type.pkgName}/msg/${field.type.type}`;	×
NEW 468	return resolveTypeClass(typeName, loader);	×
469	}
470	}
471	}
NEW 472	return null;	×
473	}
474
475	/**
476	* Validate a message and throw if invalid
477	* @param {object} obj - Plain object to validate
478	* @param {function\|string\|object} typeClass - Message type class or identifier
479	* @param {object} [options] - Validation options (same as validateMessage)
480	* @throws {MessageValidationError} If validation fails
481	* @returns {void}
482	*/
483	function assertValidMessage(obj, typeClass, options = {}) {	2✔
484	const result = validateMessage(obj, typeClass, options);	6✔
485
486	if (!result.valid) {	6✔
487	const resolved = resolveTypeClass(typeClass, options.loader);	4✔
488	const messageType = resolved	4!
489	? getMessageTypeString(resolved)
490	: String(typeClass);
491	throw new MessageValidationError(messageType, result.issues);	4✔
492	}
493	}
494
495	/**
496	* Create a validator function for a specific message type
497	* @param {function\|string\|object} typeClass - Message type class or identifier
498	* @param {object} [defaultOptions] - Default validation options
499	* @param {function} [loader] - Interface loader function
500	* @returns {function} Validator function that takes (obj, options?) and returns validation result
501	*/
502	function createMessageValidator(typeClass, defaultOptions = {}, loader) {	×
503	const resolved = resolveTypeClass(typeClass, loader);	2✔
504	if (!resolved) {	2!
NEW 505	throw new TypeValidationError(	×
506	'typeClass',
507	typeClass,
508	'valid message type class'
509	);
510	}
511
512	return function validator(obj, options = {}) {	2✔
513	return validateMessage(obj, resolved, {	3✔
514	...defaultOptions,
515	...options,
516	loader,
517	});
518	};
519	}
520
521	module.exports = {	26✔
522	ValidationProblem,
523
524	getMessageSchema,
525	getFieldNames,
526	getFieldType,
527
528	validateMessage,
529	assertValidMessage,
530	createMessageValidator,
531
532	getMessageTypeString,
533	};

RobotWebTools / rclnodejs / 19963524257

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