Enable strictFunctionTypes (#1047)

Author: EzraBrooks

src/core/Service.ts

@@ -5,10 +5,13 @@
 
 import { EventEmitter } from "eventemitter3";
 import type {
-  RosbridgeCallServiceMessage,
+  RosbridgeMessage,
   RosbridgeServiceResponseMessage,
 } from "../types/protocol.ts";
-import { isRosbridgeServiceResponseMessage } from "../types/protocol.ts";
+import {
+  isRosbridgeCallServiceMessage,
+  isRosbridgeServiceResponseMessage,
+} from "../types/protocol.ts";
 import type Ros from "./Ros.js";
 import { v4 as uuidv4 } from "uuid";
 
@@ -19,9 +22,8 @@ export default class Service<TRequest, TResponse> extends EventEmitter {
   /**
    * Stores a reference to the most recent service callback advertised so it can be removed from the EventEmitter during un-advertisement
    */
-  #serviceCallback:
-    | ((rosbridgeRequest: RosbridgeCallServiceMessage<TRequest>) => void)
-    | null = null;
+  #serviceCallback: ((rosbridgeRequest: RosbridgeMessage) => void) | null =
+    null;
   isAdvertised = false;
   /**
    * Queue for serializing advertise/unadvertise operations to prevent race conditions
@@ -118,6 +120,11 @@ export default class Service<TRequest, TResponse> extends EventEmitter {
 
         // Store the new callback for removal during un-advertisement
         this.#serviceCallback = (rosbridgeRequest) => {
+          if (!isRosbridgeCallServiceMessage<TRequest>(rosbridgeRequest)) {
+            throw new Error(
+              `Invalid message received on service channel: ${JSON.stringify(rosbridgeRequest)}`,
+            );
+          }
           const response = {};
           let success: boolean;
           try {
@@ -227,6 +234,11 @@ export default class Service<TRequest, TResponse> extends EventEmitter {
         }
 
         this.#serviceCallback = (rosbridgeRequest) => {
+          if (!isRosbridgeCallServiceMessage<TRequest>(rosbridgeRequest)) {
+            throw new Error(
+              `Invalid message received on service channel: ${JSON.stringify(rosbridgeRequest)}`,
+            );
+          }
           (async () => {
             try {
               this.ros.callOnConnection({

src/core/SocketAdapter.ts

@@ -65,7 +65,7 @@ export default class SocketAdapter {
     }: {
       onOpen: (event: Event) => void;
       onClose: (event: Event) => void;
-      onError: (event: ErrorEvent) => void;
+      onError: (event: ErrorEvent | RTCErrorEvent) => void;
       onMessage: (message: RosbridgeMessage) => void;
       decoder?: ((data, callback: (error, result) => void) => void) | null;
     },
@@ -82,7 +82,7 @@ export default class SocketAdapter {
     this.socket.onclose = (e: Event) => {
       onClose(e);
     };
-    this.socket.onerror = (e: ErrorEvent) => {
+    this.socket.onerror = (e: ErrorEvent | RTCErrorEvent) => {
       onError(e);
     };
     this.socket.onmessage = (e: MessageEvent) => {
@@ -157,18 +157,25 @@ export default class SocketAdapter {
     callback: (message: RosbridgeMessage) => void,
   ) {
     if (isRosbridgePngMessage(message)) {
+      const pngCallback = (data: unknown) => {
+        if (isRosbridgeMessage(data)) {
+          callback(data);
+        } else {
+          throw new Error("Decompressed PNG data was invalid!");
+        }
+      };
       // If in Node.js..
       if (typeof window === "undefined") {
         import("../util/decompressPng.js")
           .then(({ default: decompressPng }) => {
-            decompressPng(message.data, callback);
+            decompressPng(message.data, pngCallback);
           })
           .catch(console.error);
       } else {
         // if in browser..
         import("../util/shim/decompressPng.js")
           .then(({ default: decompressPng }) => {
-            decompressPng(message.data, callback);
+            decompressPng(message.data, pngCallback);
           })
           .catch(console.error);
       }

src/core/Topic.ts

@@ -6,10 +6,11 @@
 import { EventEmitter } from "eventemitter3";
 import Service from "./Service.js";
 import type Ros from "./Ros.js";
-import type {
-  RosbridgeAdvertiseMessage,
-  RosbridgePublishMessage,
-  RosbridgeSubscribeMessage,
+import {
+  isRosbridgePublishMessage,
+  type RosbridgeAdvertiseMessage,
+  type RosbridgeMessage,
+  type RosbridgeSubscribeMessage,
 } from "../types/protocol.ts";
 import type { rosapi } from "../types/rosapi.ts";
 import { v4 as uuidv4 } from "uuid";
@@ -138,8 +139,14 @@ export default class Topic<T> extends EventEmitter<{
     }
   }
 
-  #messageCallback = (data: RosbridgePublishMessage<T>) => {
-    this.emit("message", data.msg);
+  #messageCallback = (data: RosbridgeMessage) => {
+    if (isRosbridgePublishMessage<T>(data)) {
+      this.emit("message", data.msg);
+    } else {
+      throw new Error(
+        `Unexpected message on topic channel: ${JSON.stringify(data)}`,
+      );
+    }
   };
   /**
    * Every time a message is published for the given topic, the callback

src/tf/ROS2TFClient.ts

@@ -9,8 +9,8 @@ export default class ROS2TFClient extends BaseTFClient {
   goal_id: string;
   actionClient: Action<
     tf2_web_republisher.TFSubscriptionGoal,
-    tf2_web_republisher.TFSubscriptionResult,
-    tf2_web_republisher.TFSubscriptionFeedback
+    tf2_web_republisher.TFSubscriptionFeedback,
+    tf2_web_republisher.TFSubscriptionResult
   >;
   currentGoal?: tf2_web_republisher.TFSubscriptionGoal;
 

src/types/cbor-js.d.ts

@@ -1,6 +1,6 @@
 declare module "cbor-js" {
   function decode(
     data: ArrayBufferLike,
-    tagger: (data: Uint8Array, tag: number) => unknown,
+    tagger: (data: Uint8Array<ArrayBuffer>, tag: number) => unknown,
   ): unknown;
 }

src/types/protocol.ts

@@ -88,9 +88,9 @@ export interface RosbridgePublishMessage<TMessage = unknown>
   msg: TMessage;
 }
 
-export function isRosbridgePublishMessage(
+export function isRosbridgePublishMessage<T>(
   message: RosbridgeMessage,
-): message is RosbridgePublishMessage {
+): message is RosbridgePublishMessage<T> {
   return message.op === "publish";
 }
 
@@ -161,9 +161,9 @@ export interface RosbridgeCallServiceMessage<TArgs = undefined>
   timeout?: number;
 }
 
-export function isRosbridgeCallServiceMessage(
+export function isRosbridgeCallServiceMessage<T>(
   message: RosbridgeMessage,
-): message is RosbridgeCallServiceMessage {
+): message is RosbridgeCallServiceMessage<T> {
   return message.op === "call_service";
 }
 

tsconfig.build.json

@@ -41,14 +41,14 @@
     "strictBindCallApply": true /* Check that the arguments for `bind`, `call`, and `apply` methods match the original function. */,
     "strictBuiltinIteratorReturn": true /* Built-in iterators are instantiated with a 'TReturn' type of 'undefined' instead of 'any'. */,
     "useUnknownInCatchVariables": true /* Default catch clause variables as `unknown` instead of `any`. */,
+    "strictFunctionTypes": true /* When assigning functions, check to ensure parameters and the return values are subtype-compatible. */,
     "strictPropertyInitialization": true /* Check for class properties that are declared but not set in the constructor. */,
     "noImplicitOverride": true /* Ensure overriding members in derived classes are marked with an override modifier. */,
 
     /* Rules to be enabled */
     "exactOptionalPropertyTypes": false /* Differentiate between undefined and not present when type checking */,
     "noImplicitAny": false /* Enable error reporting for expressions and declarations with an implied 'any' type. */,
     "noUncheckedIndexedAccess": false /* Add `undefined` to a type when accessed using an index. */,
-    "strictFunctionTypes": false /* When assigning functions, check to ensure parameters and the return values are subtype-compatible. */,
 
     "types": ["@types/node"]
   },