Add RMW serialize and deserialize functions #1173
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Pull Request Overview
This PR introduces native and JavaScript-level serialization and deserialization for ROS 2 messages using RMW, complete with tests and helper functions.
- Adds C++ RMW bindings (
serialize/deserialize) and registers them in the Node addon - Implements
SerializationJS class and exportsserializeMessage/deserializeMessageinindex.js - Provides basic unit tests and fixes a naming typo (
destroyRawROS)
Reviewed Changes
Copilot reviewed 9 out of 10 changed files in this pull request and generated 1 comment.
Show a summary per file
| File | Description |
|---|---|
| test/test-serialization.js | New tests for serialization/deserialization |
| src/rcl_serialization_bindings.h/.cpp | Native RMW serialization/deserialization bindings |
| src/addon.cpp | Module initialization now includes serialization |
| rosidl_gen/templates/message.dot | Corrected typo from destoryRawROS to destroyRawROS |
| lib/serialization.js | JS helper Serialization class |
| lib/node.js | Updated call to destroyRawROS |
| index.js | Exported serializeMessage and deserializeMessage |
| binding.gyp | Added serialization binding source file |
Comments suppressed due to low confidence (2)
test/test-serialization.js:19
- [nitpick] The test suite description refers to publishing rather than serialization. Rename it to something like 'rclnodejs serialization test suite' for clarity.
describe('rclnodejs publisher test suite', function () {
lib/serialization.js:27
- There are no tests covering these error paths. Consider adding unit tests for invalid inputs (wrong message type or non-Buffer) to ensure errors are thrown as expected.
if (!(message instanceof typeClass)) {
| if (RCUTILS_RET_OK != ret) { | ||
| Napi::Error::New(env, | ||
| "failed to fini rcl_serialized_msg_t in destructor.") | ||
| .ThrowAsJavaScriptException(); |
There was a problem hiding this comment.
Throwing a JavaScript exception from a C++ destructor can lead to std::terminate. It's safer to log the error or handle cleanup without throwing in the destructor.
Suggested change
| .ThrowAsJavaScriptException(); | |
| .Value(); // Log the error without throwing an exception. |
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minggangw
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Jun 20, 2025
This PR introduces native and JavaScript-level serialization and deserialization for ROS 2 messages using RMW, complete with tests and helper functions. - Adds C++ RMW bindings (`serialize`/`deserialize`) and registers them in the Node addon - Implements `Serialization` JS class and exports `serializeMessage`/`deserializeMessage` in `index.js` - Provides basic unit tests and fixes a naming typo (`destroyRawROS`) Fix: #1172
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This PR introduces native and JavaScript-level serialization and deserialization for ROS 2 messages using RMW, complete with tests and helper functions.
serialize/deserialize) and registers them in the Node addonSerializationJS class and exportsserializeMessage/deserializeMessageinindex.jsdestroyRawROS)Fix: #1172