Enable noUncheckedIndexAccess (#1065)

One of the two most important TypeScript rules, imo.
Accessing indexed types (maps, arrays, etc.) in JavaScript
doesn't ever throw an out of bounds error, but it might return
`undefined` - and TypeScript by default doesn't check against
this because so much JavaScript code in the world is written
sloppily enough that checking this by default would make it
hard to port to TypeScript.

Author: EzraBrooks

src/core/Ros.ts

@@ -646,6 +646,11 @@ export default class Ros extends EventEmitter<
         const arrayLen = theType.fieldarraylen[i];
         const fieldName = theType.fieldnames[i];
         const fieldType = theType.fieldtypes[i];
+        if (fieldName === undefined || fieldType === undefined) {
+          throw new Error(
+            "Received mismatched type definition vector lengths!",
+          );
+        }
         if (!fieldType.includes("/")) {
           // check the fieldType includes '/' or not
           if (arrayLen === -1) {
@@ -677,7 +682,11 @@ export default class Ros extends EventEmitter<
       return typeDefDict;
     };
 
-    return decodeTypeDefsRec(defs[0], defs);
+    if (defs[0]) {
+      return decodeTypeDefsRec(defs[0], defs);
+    } else {
+      return {};
+    }
   }
 
   /**

src/urdf/UrdfBox.ts

@@ -22,7 +22,7 @@ export default class UrdfBox {
     const size: Optional<string[]> = xml
       .getAttribute(UrdfAttrs.Size)
       ?.split(" ");
-    if (size?.length !== 3) {
+    if (!(size?.[0] && size[1] && size[2])) {
       return;
     }
 

src/urdf/UrdfColor.ts

@@ -33,7 +33,7 @@ export default class UrdfColor {
     const rgba: Optional<string[]> = xml
       .getAttribute(UrdfAttrs.Rgba)
       ?.split(" ");
-    if (rgba?.length !== 4) {
+    if (!(rgba?.[0] && rgba[1] && rgba[2] && rgba[3])) {
       return;
     }
 

src/urdf/UrdfJoint.ts

@@ -31,17 +31,17 @@ export default class UrdfJoint {
     this.type = xml.getAttribute(UrdfAttrs.Type);
 
     const parents = xml.getElementsByTagName(UrdfAttrs.Parent);
-    if (parents.length > 0) {
+    if (parents[0]) {
       this.parent = parents[0].getAttribute(UrdfAttrs.Link);
     }
 
     const children = xml.getElementsByTagName(UrdfAttrs.Child);
-    if (children.length > 0) {
+    if (children[0]) {
       this.child = children[0].getAttribute(UrdfAttrs.Link);
     }
 
     const limits = xml.getElementsByTagName(UrdfAttrs.Limit);
-    if (limits.length > 0) {
+    if (limits[0]) {
       this.minval = parseFloat(
         limits[0].getAttribute(UrdfAttrs.Lower) ?? "NaN",
       );
@@ -52,12 +52,12 @@ export default class UrdfJoint {
 
     // Origin
     const origins = xml.getElementsByTagName(UrdfAttrs.Origin);
-    if (origins.length > 0) {
+    if (origins[0]) {
       this.origin = parseUrdfOrigin(origins[0]);
     }
 
     const axis = xml.getElementsByTagName(UrdfAttrs.Axis);
-    if (axis.length > 0) {
+    if (axis[0]) {
       const xyzValue = axis[0].getAttribute(UrdfAttrs.Xyz)?.split(" ");
       if (!xyzValue || xyzValue.length !== 3) {
         throw new Error(

src/urdf/UrdfMaterial.ts

@@ -21,13 +21,13 @@ export default class UrdfMaterial {
 
     // Texture
     const textures = xml.getElementsByTagName(UrdfAttrs.Texture);
-    if (textures.length > 0) {
+    if (textures[0]) {
       this.textureFilename = textures[0].getAttribute(UrdfAttrs.Filename);
     }
 
     // Color
     const colors = xml.getElementsByTagName(UrdfAttrs.Color);
-    if (colors.length > 0) {
+    if (colors[0]) {
       // Parse the RBGA string
       this.color = new UrdfColor({
         xml: colors[0],

src/urdf/UrdfMesh.ts

@@ -24,7 +24,7 @@ export default class UrdfMesh {
     const scale: Optional<string[]> = xml
       .getAttribute(UrdfAttrs.Scale)
       ?.split(" ");
-    if (scale?.length !== 3) {
+    if (!(scale?.[0] && scale[1] && scale[2])) {
       return;
     }
 

src/urdf/UrdfModel.ts

@@ -72,8 +72,9 @@ export default class UrdfModel {
             break;
           }
 
-          if (this.materials[material.name].isLink()) {
-            this.materials[material.name].assign(material);
+          const existingMaterial = this.materials[material.name];
+          if (existingMaterial?.isLink()) {
+            existingMaterial.assign(material);
           } else {
             console.warn(`Material ${material.name} is not unique.`);
           }
@@ -95,8 +96,9 @@ export default class UrdfModel {
               continue;
             }
 
-            if (Object.hasOwn(this.materials, mat.name)) {
-              item.material = this.materials[mat.name];
+            const material = this.materials[mat.name];
+            if (material) {
+              item.material = material;
             } else {
               this.materials[mat.name] = mat;
             }

src/urdf/UrdfUtils.ts

@@ -11,7 +11,7 @@ export function parseUrdfOrigin(originElement: Element): Pose {
     .getAttribute(UrdfAttrs.Xyz)
     ?.split(" ");
   let position: Vector3 = new Vector3();
-  if (xyz?.length === 3) {
+  if (xyz?.[0] && xyz[1] && xyz[2]) {
     position = new Vector3({
       x: parseFloat(xyz[0]),
       y: parseFloat(xyz[1]),
@@ -22,7 +22,7 @@ export function parseUrdfOrigin(originElement: Element): Pose {
   // Check the RPY
   const rpy = originElement.getAttribute(UrdfAttrs.Rpy)?.split(" ");
   let orientation = new Quaternion();
-  if (rpy?.length === 3) {
+  if (rpy?.[0] && rpy[1] && rpy[2]) {
     // Convert from RPY
     const roll = parseFloat(rpy[0]);
     const pitch = parseFloat(rpy[1]);

src/urdf/UrdfVisual.ts

@@ -63,19 +63,19 @@ export default class UrdfVisual {
 
     // Origin
     const origins = xml.getElementsByTagName(UrdfAttrs.Origin);
-    if (origins.length > 0) {
+    if (origins[0]) {
       this.origin = parseUrdfOrigin(origins[0]);
     }
 
     // Geometry
     const geoms = xml.getElementsByTagName(UrdfAttrs.Geometry);
-    if (geoms.length > 0) {
+    if (geoms[0]) {
       this.geometry = parseUrdfGeometry(geoms[0]);
     }
 
     // Material
     const materials = xml.getElementsByTagName(UrdfAttrs.Material);
-    if (materials.length > 0) {
+    if (materials[0]) {
       this.material = new UrdfMaterial({
         xml: materials[0],
       });

src/util/cborTypedArrayTags.ts

@@ -29,6 +29,9 @@ function decodeUint64LE(bytes: Uint8Array) {
     const si = i * 2;
     const lo = uint32View[si];
     const hi = uint32View[si + 1];
+    if (lo === undefined || hi === undefined) {
+      throw new Error("Invalid byte array");
+    }
     arr[i] = lo + UPPER32 * hi;
   }
 
@@ -55,6 +58,9 @@ function decodeInt64LE(bytes: Uint8Array) {
     const si = i * 2;
     const lo = uint32View[si];
     const hi = int32View[si + 1];
+    if (lo === undefined || hi === undefined) {
+      throw new Error("Invalid byte array");
+    }
     arr[i] = lo + UPPER32 * hi;
   }
 
@@ -120,12 +126,12 @@ export default function cborTypedArrayTagger(
   data: Uint8Array<ArrayBuffer>,
   tag: number,
 ) {
-  if (tag in nativeArrayTypes) {
-    const arrayType = nativeArrayTypes[tag];
+  const arrayType = nativeArrayTypes[tag];
+  if (arrayType) {
     return decodeNativeArray(data, arrayType);
   }
   if (tag in conversionArrayTypes) {
-    return conversionArrayTypes[tag](data);
+    return conversionArrayTypes[tag]?.(data);
   }
   return data;
 }