rclnodejs 1.8.3 → 1.9.0

package/test_repro_exact.js

@@ -1,57 +0,0 @@
-// Thorough latency/throughput test matching the exact issue scenario
-'use strict';
-
-const rclnodejs = require('./index.js');
-
-async function main() {
-  await rclnodejs.init();
-
-  const node = new rclnodejs.Node('test_node');
-
-  let lastTs;
-  let msgCount = 0;
-  const hzSamples = [];
-
-  node.createSubscription(
-    'std_msgs/msg/Float64MultiArray',
-    '/map_to_base_link_pose2d',
-    (msg) => {
-      const now = Date.now();
-      msgCount++;
-      if (lastTs) {
-        const hz = 1000 / (now - lastTs);
-        hzSamples.push(hz);
-        console.log('Raw Hz:', hz.toFixed(2));
-      }
-      lastTs = now;
-    }
-  );
-
-  rclnodejs.spin(node);
-
-  console.log('Waiting for messages on /map_to_base_link_pose2d at ~10Hz...');
-  console.log('Run this in another terminal:');
-  console.log(
-    '  ros2 topic pub -r 10 /map_to_base_link_pose2d std_msgs/msg/Float64MultiArray "{data: [1.0, 2.0, 3.0]}"'
-  );
-
-  setTimeout(() => {
-    if (hzSamples.length > 0) {
-      const avgHz = hzSamples.reduce((a, b) => a + b, 0) / hzSamples.length;
-      console.log(`\n--- Summary ---`);
-      console.log(`Messages: ${msgCount}, Avg Hz: ${avgHz.toFixed(2)}`);
-      if (avgHz < 5) {
-        console.log('*** REGRESSION DETECTED ***');
-      } else {
-        console.log('Performance OK');
-      }
-    } else {
-      console.log('No messages received');
-    }
-    node.stop();
-    rclnodejs.shutdown();
-    process.exit(0);
-  }, 15000);
-}
-
-main().catch(console.error);

package/test_repro_hz.js

@@ -1,86 +0,0 @@
-// Reprocer for https://github.com/RobotWebTools/rclnodejs/issues/1394
-// Tests subscription throughput at ~10Hz publishing rate
-'use strict';
-
-const rclnodejs = require('./index.js');
-
-const PUBLISH_HZ = 10;
-const TEST_DURATION_SEC = 10;
-
-async function main() {
-  await rclnodejs.init();
-
-  const pubNode = new rclnodejs.Node('test_pub_node');
-  const subNode = new rclnodejs.Node('test_sub_node');
-
-  const publisher = pubNode.createPublisher(
-    'std_msgs/msg/Float64MultiArray',
-    '/test_hz_topic'
-  );
-
-  let msgCount = 0;
-  let lastTs = null;
-  const hzSamples = [];
-
-  subNode.createSubscription(
-    'std_msgs/msg/Float64MultiArray',
-    '/test_hz_topic',
-    (msg) => {
-      const now = Date.now();
-      msgCount++;
-      if (lastTs) {
-        const hz = 1000 / (now - lastTs);
-        hzSamples.push(hz);
-      }
-      lastTs = now;
-    }
-  );
-
-  pubNode.spin();
-  subNode.spin();
-
-  // Publish at target Hz
-  let pubCount = 0;
-  const pubInterval = setInterval(() => {
-    publisher.publish({ data: [1.0, 2.0, 3.0] });
-    pubCount++;
-  }, 1000 / PUBLISH_HZ);
-
-  // Wait for test duration then report
-  setTimeout(() => {
-    clearInterval(pubInterval);
-
-    if (hzSamples.length > 0) {
-      const avgHz =
-        hzSamples.reduce((a, b) => a + b, 0) / hzSamples.length;
-      const minHz = Math.min(...hzSamples);
-      const maxHz = Math.max(...hzSamples);
-
-      console.log(`Published:  ${pubCount} messages`);
-      console.log(`Received:   ${msgCount} messages`);
-      console.log(`Avg Hz:     ${avgHz.toFixed(2)}`);
-      console.log(`Min Hz:     ${minHz.toFixed(2)}`);
-      console.log(`Max Hz:     ${maxHz.toFixed(2)}`);
-      console.log(
-        `Expected:   ~${PUBLISH_HZ} Hz`
-      );
-
-      if (avgHz < PUBLISH_HZ * 0.5) {
-        console.log(
-          `\n*** REGRESSION DETECTED: Average Hz (${avgHz.toFixed(2)}) is less than 50% of expected (${PUBLISH_HZ}) ***`
-        );
-      } else {
-        console.log('\nPerformance looks OK.');
-      }
-    } else {
-      console.log('No messages received!');
-    }
-
-    pubNode.stop();
-    subNode.stop();
-    rclnodejs.shutdown();
-    process.exit(0);
-  }, TEST_DURATION_SEC * 1000);
-}
-
-main().catch(console.error);

package/test_repro_pub.js

@@ -1,36 +0,0 @@
-// Publisher for repro test - runs in separate process
-'use strict';
-
-const rclnodejs = require('./index.js');
-
-const PUBLISH_HZ = parseInt(process.argv[2] || '100');
-
-async function main() {
-  await rclnodejs.init();
-
-  const node = new rclnodejs.Node('test_publisher_node');
-  const publisher = node.createPublisher(
-    'std_msgs/msg/Float64MultiArray',
-    '/test_hz_topic'
-  );
-
-  node.spin();
-
-  let pubCount = 0;
-  console.log(`Publishing at ${PUBLISH_HZ} Hz...`);
-
-  const pubInterval = setInterval(() => {
-    publisher.publish({ data: [1.0, 2.0, 3.0] });
-    pubCount++;
-  }, 1000 / PUBLISH_HZ);
-
-  setTimeout(() => {
-    clearInterval(pubInterval);
-    console.log(`Published ${pubCount} messages total`);
-    node.stop();
-    rclnodejs.shutdown();
-    process.exit(0);
-  }, 15000);
-}
-
-main().catch(console.error);

package/test_repro_stress.js

@@ -1,83 +0,0 @@
-// Multi-frequency stress test for subscription performance
-'use strict';
-
-const rclnodejs = require('./index.js');
-
-const PUBLISH_HZ = parseInt(process.argv[2] || '100');
-const TEST_DURATION_SEC = 10;
-
-async function main() {
-  await rclnodejs.init();
-
-  const pubNode = new rclnodejs.Node('stress_pub_node');
-  const subNode = new rclnodejs.Node('stress_sub_node');
-
-  const publisher = pubNode.createPublisher(
-    'std_msgs/msg/Float64MultiArray',
-    '/stress_test_topic'
-  );
-
-  let msgCount = 0;
-  let lastTs = null;
-  const hzSamples = [];
-
-  subNode.createSubscription(
-    'std_msgs/msg/Float64MultiArray',
-    '/stress_test_topic',
-    (msg) => {
-      const now = Date.now();
-      msgCount++;
-      if (lastTs) {
-        const hz = 1000 / (now - lastTs);
-        hzSamples.push(hz);
-      }
-      lastTs = now;
-    }
-  );
-
-  pubNode.spin();
-  subNode.spin();
-
-  let pubCount = 0;
-
-  // Use high-resolution timer for more precise publishing
-  const intervalMs = 1000 / PUBLISH_HZ;
-  const pubInterval = setInterval(() => {
-    publisher.publish({ data: [1.0, 2.0, 3.0, 4.0, 5.0] });
-    pubCount++;
-  }, intervalMs);
-
-  setTimeout(() => {
-    clearInterval(pubInterval);
-
-    if (hzSamples.length > 0) {
-      const avgHz = hzSamples.reduce((a, b) => a + b, 0) / hzSamples.length;
-      const minHz = Math.min(...hzSamples);
-      const maxHz = Math.max(...hzSamples);
-      const dropRate = ((pubCount - msgCount) / pubCount * 100);
-
-      console.log(`Target:     ${PUBLISH_HZ} Hz`);
-      console.log(`Published:  ${pubCount}`);
-      console.log(`Received:   ${msgCount}`);
-      console.log(`Avg Hz:     ${avgHz.toFixed(2)}`);
-      console.log(`Min Hz:     ${minHz.toFixed(2)}`);
-      console.log(`Max Hz:     ${maxHz.toFixed(2)}`);
-      console.log(`Drop rate:  ${dropRate.toFixed(1)}%`);
-
-      if (avgHz < PUBLISH_HZ * 0.5) {
-        console.log(`FAIL: Avg Hz significantly below target`);
-      } else {
-        console.log(`PASS`);
-      }
-    } else {
-      console.log('No messages received!');
-    }
-
-    pubNode.stop();
-    subNode.stop();
-    rclnodejs.shutdown();
-    process.exit(0);
-  }, TEST_DURATION_SEC * 1000);
-}
-
-main().catch(console.error);

package/test_repro_sub.js

@@ -1,64 +0,0 @@
-// Subscriber for repro test - runs in separate process
-'use strict';
-
-const rclnodejs = require('./index.js');
-
-async function main() {
-  await rclnodejs.init();
-
-  const node = new rclnodejs.Node('test_subscriber_node');
-
-  let msgCount = 0;
-  let lastTs = null;
-  const hzSamples = [];
-  let startTime = null;
-
-  node.createSubscription(
-    'std_msgs/msg/Float64MultiArray',
-    '/test_hz_topic',
-    (msg) => {
-      const now = Date.now();
-      msgCount++;
-      if (!startTime) startTime = now;
-      if (lastTs) {
-        const hz = 1000 / (now - lastTs);
-        hzSamples.push(hz);
-        if (msgCount % 50 === 0) {
-          const recentSamples = hzSamples.slice(-50);
-          const recentAvg =
-            recentSamples.reduce((a, b) => a + b, 0) / recentSamples.length;
-          console.log(
-            `msg#${msgCount} recent avg Hz: ${recentAvg.toFixed(2)}`
-          );
-        }
-      }
-      lastTs = now;
-    }
-  );
-
-  node.spin();
-
-  setTimeout(() => {
-    if (hzSamples.length > 0) {
-      const avgHz =
-        hzSamples.reduce((a, b) => a + b, 0) / hzSamples.length;
-      const minHz = Math.min(...hzSamples);
-      const maxHz = Math.max(...hzSamples);
-      const elapsed = (Date.now() - startTime) / 1000;
-
-      console.log(`\n--- Results ---`);
-      console.log(`Received:   ${msgCount} messages in ${elapsed.toFixed(1)}s`);
-      console.log(`Avg Hz:     ${avgHz.toFixed(2)}`);
-      console.log(`Min Hz:     ${minHz.toFixed(2)}`);
-      console.log(`Max Hz:     ${maxHz.toFixed(2)}`);
-    } else {
-      console.log('No messages received!');
-    }
-
-    node.stop();
-    rclnodejs.shutdown();
-    process.exit(0);
-  }, 12000);
-}
-
-main().catch(console.error);

package/test_xproc_data.js

@@ -1,64 +0,0 @@
-// Cross-process data integrity test: validates data from external ROS2 publisher
-'use strict';
-
-const rclnodejs = require('./index.js');
-
-const EXPECTED_DATA = [1.0, 2.0, 3.0];
-
-async function main() {
-  await rclnodejs.init();
-
-  const node = new rclnodejs.Node('xproc_data_sub');
-  let msgCount = 0;
-  let errCount = 0;
-  const errors = [];
-
-  node.createSubscription(
-    'std_msgs/msg/Float64MultiArray',
-    '/xproc_data_topic',
-    (msg) => {
-      msgCount++;
-
-      if (!msg || !msg.data) {
-        errCount++;
-        errors.push(`msg#${msgCount}: missing data`);
-      } else {
-        const arr = Array.from(msg.data);
-        for (let i = 0; i < EXPECTED_DATA.length; i++) {
-          if (Math.abs(arr[i] - EXPECTED_DATA[i]) > 1e-9) {
-            errCount++;
-            errors.push(
-              `msg#${msgCount}: data[${i}] expected ${EXPECTED_DATA[i]}, got ${arr[i]}`
-            );
-          }
-        }
-        if (arr.length !== EXPECTED_DATA.length) {
-          errCount++;
-          errors.push(
-            `msg#${msgCount}: expected ${EXPECTED_DATA.length} elements, got ${arr.length}`
-          );
-        }
-      }
-    }
-  );
-
-  rclnodejs.spin(node);
-
-  console.log('Listening on /xproc_data_topic for 10s...');
-
-  setTimeout(() => {
-    console.log(`\n=== Cross-Process Data Integrity ===`);
-    console.log(`Received:    ${msgCount} messages`);
-    console.log(`Data errors: ${errCount}`);
-    if (errors.length > 0) {
-      errors.slice(0, 10).forEach((e) => console.log(`  ${e}`));
-    }
-    const pass = errCount === 0 && msgCount > 0;
-    console.log(`Result:      ${pass ? 'PASS' : 'FAIL'}`);
-    node.stop();
-    rclnodejs.shutdown();
-    process.exit(0);
-  }, 10000);
-}
-
-main().catch(console.error);