RobotWebTools / rclnodejs / 22743178296

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Fix action server goal expiration and correct broken test assertions (#1420)

## fix: action server goal expiration never removed expired goals

### Summary

Fixed two bugs in the action server goal expiration mechanism that caused expired goals to never be removed from memory, and a crash when they were. Also fixed 9 tautological test assertions that masked both bugs, and added deserialized goal info validation to the multi-goal expiration test.

### Bug 1 — Wrong buffer read in `_executeExpiredGoals` (`lib/action/server.js`)

`_executeExpiredGoals()` deserialized goal info from `result.data[i].refObject`, which are JavaScript wrapper objects each with their own empty `_refObject` buffer. The native `rcl_action_expire_goals()` writes into `result._refArray.buffer`, a completely separate memory block. The wrappers never see the native data, so the deserialized UUID was always all-zeros and `_goalHandles.delete(uuid)` never matched — goals were silently never expired.

**Fix:** Changed `goal.refObject` → `result._refArray[i]` to read directly from the native-written buffer.

### Bug 2 — Crash on zero-capacity buffer (`lib/node.js`)

After Bug 1 is fixed, expired goals are actually removed from `_goalHandles`. On the next spin cycle, `isGoalExpired` may still fire with `_goalHandles.size == 0`. Passing a zero-capacity buffer to `rcl_action_expire_goals` violates an RCL precondition and crashes:
> `expired_goals, expired_goals_capacity, and num_expired inconsistent`

**Fix:** Added `if (numGoals > 0)` guard to skip the native call when there are no goal handles.

### Bug 3 — Tautological test assertions (`test/test-action-server.js`)

9 instances of `assert.ok(value, expected)` where `assert.ok`'s second argument is a failure message, not a comparison. These always passed regardless of actual values.

**Fix:** Changed all 9 to `assert.strictEqual(value, expected)`.

### Enhanced test validation (`test/test-action-server.js`)

Added goal info validation t... (continued)

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