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Fix issues when using parameters of type array #855

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Merged
merged 5 commits into from
Jun 1, 2022
Merged

Fix issues when using parameters of type array #855

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c988963
add unit test for all conversions
ejalaa12 May 30, 2022
440a43a
handle PARAMETER_STRING_ARRAY that was not handled everywhere
ejalaa12 May 30, 2022
67d7a2c
fixed TypedArray issue
ejalaa12 May 30, 2022
a51d644
PARAMETER_BYTE is not defined, interpret BYTE_ARRAY as integers
ejalaa12 May 30, 2022
2bf8661
fixed typo in param type
ejalaa12 May 30, 2022
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19 changes: 12 additions & 7 deletions lib/parameter.js
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,7 @@ class Parameter {
/**
* Create a Parameter instance from an rlc_interfaces/msg/Parameter message.
* @constructs
* @param {rlc_interfaces/msg/Parameter} parameterMsg - The message to convert to a parameter.
* @param {rcl_interfaces/msg/Parameter} parameterMsg - The message to convert to a parameter.
* @return {Parameter} - The new instance.
*/
static fromParameterMessage(parameterMsg) {
Expand All @@ -89,25 +89,25 @@ class Parameter {
value = parameterMsg.value.bool_array_value;
break;
case ParameterType.PARAMETER_BYTE_ARRAY:
value = parameterMsg.value.byte_array_value;
value = Array.from(parameterMsg.value.byte_array_value);
break;
case ParameterType.PARAMETER_DOUBLE:
value = parameterMsg.value.double_value;
break;
case ParameterType.PARAMETER_DOUBLE_ARRAY:
value = parameterMsg.value.double_array_value;
value = Array.from(parameterMsg.value.double_array_value);
break;
case ParameterType.PARAMETER_INTEGER:
value = parameterMsg.value.integer_value;
break;
case ParameterType.PARAMETER_INTEGER_ARRAY:
value = parameterMsg.value.integer_array_value;
value = Array.from(parameterMsg.value.integer_array_value);
break;
case ParameterType.PARAMETER_STRING:
value = parameterMsg.value.string_value;
break;
case ParameterType.PARAMETER_STRING_ARRAY:
value = parameterMsg.value.string_array_value;
value = Array.from(parameterMsg.value.string_array_value);
break;
}

Expand Down Expand Up @@ -771,6 +771,7 @@ function validValue(value, type) {
case ParameterType.PARAMETER_BYTE_ARRAY:
case ParameterType.PARAMETER_INTEGER_ARRAY:
case ParameterType.PARAMETER_DOUBLE_ARRAY:
case ParameterType.PARAMETER_STRING_ARRAY:
const values = value;
result = _validArray(values, type);
break;
Expand All @@ -788,14 +789,17 @@ function _validArray(values, type) {
if (type === ParameterType.PARAMETER_BOOL_ARRAY) {
arrayElementType = ParameterType.PARAMETER_BOOL;
} else if (type === ParameterType.PARAMETER_BYTE_ARRAY) {
arrayElementType = ParameterType.PARAMETER_BYTE;
arrayElementType = ParameterType.PARAMETER_INTEGER;
}
if (type === ParameterType.PARAMETER_INTEGER_ARRAY) {
arrayElementType = ParameterType.PARAMETER_INTEGER;
}
if (type === ParameterType.PARAMETER_DOUBLE_ARRAY) {
arrayElementType = ParameterType.PARAMETER_DOUBLE;
}
if (type === ParameterType.PARAMETER_STRING_ARRAY) {
arrayElementType = ParameterType.PARAMETER_STRING;
}

return values.reduce(
(compatible, val) =>
Expand All @@ -811,7 +815,8 @@ function _isArrayParameterType(type) {
type === ParameterType.PARAMETER_BOOL_ARRAY ||
type === ParameterType.PARAMETER_BYTE_ARRAY ||
type === ParameterType.PARAMETER_INTEGER_ARRAY ||
type === ParameterType.PARAMETER_DOUBLE_ARRAY
type === ParameterType.PARAMETER_DOUBLE_ARRAY ||
type === ParameterType.PARAMETER_STRING_ARRAY
);
}

Expand Down
172 changes: 172 additions & 0 deletions test/test-parameters.js
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ const assertUtils = require('./utils.js');
const assertThrowsError = assertUtils.assertThrowsError;
const IsClose = require('is-close');
const rclnodejs = require('../index.js');
const loader = require('../lib/interface_loader.js');

const ParameterType = rclnodejs.ParameterType;
const Parameter = rclnodejs.Parameter;
Expand Down Expand Up @@ -102,6 +103,177 @@ describe('rclnodejs parameters test suite', function () {
});
});

describe('convert fromParameterMessage test suite', function () {
it('should convert PARAMETER_NOT_SET type', function () {
let param_msg = new (loader.loadInterface(
'rcl_interfaces/msg/Parameter'
))();
param_msg.name = 'not_set_param';
param_msg.value.type = ParameterType.PARAMETER_NOT_SET;

let param;
assert.doesNotThrow(() => {
param = Parameter.fromParameterMessage(param_msg);
});
assert.strictEqual(param.name, 'not_set_param');
assert.strictEqual(param.type, ParameterType.PARAMETER_NOT_SET);
assert.strictEqual(param.value, undefined);
});

it('should convert PARAMETER_BOOL type', function () {
let param_msg = new (loader.loadInterface(
'rcl_interfaces/msg/Parameter'
))();
param_msg.name = 'bool_param';
param_msg.value.type = ParameterType.PARAMETER_BOOL;
param_msg.value.bool_value = false;

let param;
assert.doesNotThrow(() => {
param = Parameter.fromParameterMessage(param_msg);
});
assert.strictEqual(param.name, 'bool_param');
assert.strictEqual(param.type, ParameterType.PARAMETER_BOOL);
assert.strictEqual(param.value, false);
});

it('should convert PARAMETER_BOOL_ARRAY type', function () {
let param_msg = new (loader.loadInterface(
'rcl_interfaces/msg/Parameter'
))();
param_msg.name = 'bool_array_param';
param_msg.value.type = ParameterType.PARAMETER_BOOL_ARRAY;
param_msg.value.bool_array_value = [true, false, true];

let param;
assert.doesNotThrow(() => {
param = Parameter.fromParameterMessage(param_msg);
});
assert.strictEqual(param.name, 'bool_array_param');
assert.strictEqual(param.type, ParameterType.PARAMETER_BOOL_ARRAY);
assert.deepStrictEqual(param.value, [true, false, true]);
});

it('should convert PARAMETER_BYTE_ARRAY type', function () {
let param_msg = new (loader.loadInterface(
'rcl_interfaces/msg/Parameter'
))();
param_msg.name = 'byte_array_param';
param_msg.value.type = ParameterType.PARAMETER_BYTE_ARRAY;
param_msg.value.byte_array_value = [1, 2, 3];

let param;
assert.doesNotThrow(() => {
param = Parameter.fromParameterMessage(param_msg);
});
assert.strictEqual(param.name, 'byte_array_param');
assert.strictEqual(param.type, ParameterType.PARAMETER_BYTE_ARRAY);
assert.deepStrictEqual(param.value, [1, 2, 3]);
});

it('should convert PARAMETER_DOUBLE type', function () {
let param_msg = new (loader.loadInterface(
'rcl_interfaces/msg/Parameter'
))();
param_msg.name = 'double_param';
param_msg.value.type = ParameterType.PARAMETER_DOUBLE;
param_msg.value.double_value = 1.23;

let param;
assert.doesNotThrow(() => {
param = Parameter.fromParameterMessage(param_msg);
});
assert.strictEqual(param.name, 'double_param');
assert.strictEqual(param.type, ParameterType.PARAMETER_DOUBLE);
assert.strictEqual(param.value, 1.23);
});

it('should convert PARAMETER_DOUBLE_ARRAY type', function () {
let param_msg = new (loader.loadInterface(
'rcl_interfaces/msg/Parameter'
))();
param_msg.name = 'double_array_param';
param_msg.value.type = ParameterType.PARAMETER_DOUBLE_ARRAY;
param_msg.value.double_array_value = [1.1, 2.2, 3.3, 4.4, 5.5];

let param;
assert.doesNotThrow(() => {
param = Parameter.fromParameterMessage(param_msg);
});
assert.strictEqual(param.name, 'double_array_param');
assert.strictEqual(param.type, ParameterType.PARAMETER_DOUBLE_ARRAY);
assert.deepStrictEqual(param.value, [1.1, 2.2, 3.3, 4.4, 5.5]);
});

it('should convert PARAMETER_INTEGER type', function () {
let param_msg = new (loader.loadInterface(
'rcl_interfaces/msg/Parameter'
))();
param_msg.name = 'integer_param';
param_msg.value.type = ParameterType.PARAMETER_INTEGER;
param_msg.value.integer_value = 123;

let param;
assert.doesNotThrow(() => {
param = Parameter.fromParameterMessage(param_msg);
});
assert.strictEqual(param.name, 'integer_param');
assert.strictEqual(param.type, ParameterType.PARAMETER_INTEGER);
assert.strictEqual(param.value, 123);
});

it('should convert PARAMETER_INTEGER_ARRAY type', function () {
let param_msg = new (loader.loadInterface(
'rcl_interfaces/msg/Parameter'
))();
param_msg.name = 'integer_array_param';
param_msg.value.type = ParameterType.PARAMETER_INTEGER_ARRAY;
param_msg.value.integer_array_value = [1, 2, 3, 4, 5];

let param;
assert.doesNotThrow(() => {
param = Parameter.fromParameterMessage(param_msg);
});
assert.strictEqual(param.name, 'integer_array_param');
assert.strictEqual(param.type, ParameterType.PARAMETER_INTEGER_ARRAY);
assert.deepStrictEqual(param.value, [1, 2, 3, 4, 5]);
});

it('should convert PARAMETER_STRING type', function () {
let param_msg = new (loader.loadInterface(
'rcl_interfaces/msg/Parameter'
))();
param_msg.name = 'string_param';
param_msg.value.type = ParameterType.PARAMETER_STRING;
param_msg.value.string_value = 'hello world';

let param;
assert.doesNotThrow(() => {
param = Parameter.fromParameterMessage(param_msg);
});
assert.strictEqual(param.name, 'string_param');
assert.strictEqual(param.type, ParameterType.PARAMETER_STRING);
assert.strictEqual(param.value, 'hello world');
});

it('should convert PARAMETER_STRING_ARRAY type', function () {
let param_msg = new (loader.loadInterface(
'rcl_interfaces/msg/Parameter'
))();
param_msg.name = 'string_array_param';
param_msg.value.type = ParameterType.PARAMETER_STRING_ARRAY;
param_msg.value.string_array_value = ['hello', 'world'];

let param;
assert.doesNotThrow(() => {
param = Parameter.fromParameterMessage(param_msg);
});
assert.strictEqual(param.name, 'string_array_param');
assert.strictEqual(param.type, ParameterType.PARAMETER_STRING_ARRAY);
assert.deepStrictEqual(param.value, ['hello', 'world']);
});
});

describe('range tests', function () {
it('Math IsClose test', function () {
assert.ok(IsClose.isClose(1.0, 1.0, DEFAULT_NUMERIC_RANGE_TOLERANCE));
Expand Down