Add willCheckConsistency option to enable/disable message consistency…

… checking (#947)

Currently, when a publisher/client sends a topic/request, it will check the consistency of the message to be sent. For example, the following code will lead to an exception:

```js
  const pub_ = this.node.createPublisher('sensor_msgs/msg/JointState', 'topic_js');
  const stringMsgObject = rclnodejs.createMessageObject('sensor_msgs/msg/JointState');
  stringMsgObject.header.frame_id = '0';
```
Because the `stamp` in `header` is not initialized.

This patch adds an additional option for node when initializing, which is `willCheckConsistency` (default is `false`), so the code above can run as expected with the  `stamp` initialized with default value. Meanwhile, user can set it to `true` to check the consistency intentionally.

To achieve, this patch implements:

1.  Add `willCheckConsistency` to the node option.
2. Update `message.dot` accordingly to check the consistency based on the node option above.
3. Update the unit tests:
   - test/test-security-related.js

Fix: #937

lib/client.js

@@ -50,13 +50,15 @@ class Client extends Entity {
    * @see {@link ResponseCallback}
    */
   sendRequest(request, callback) {
+    if (typeof callback !== 'function') {
+      throw new TypeError('Invalid argument');
+    }
+
     let requestToSend =
       request instanceof this._typeClass.Request
         ? request
         : new this._typeClass.Request(request);
-    if (typeof callback !== 'function') {
-      throw new TypeError('Invalid argument');
-    }
+    requestToSend._willCheckConsistency = this._options.willCheckConsistency;
 
     let rawRequest = requestToSend.serialize();
     let sequenceNumber = rclnodejs.sendRequest(this._handle, rawRequest);

lib/lifecycle_publisher.js

@@ -27,7 +27,7 @@ const Publisher = require('./publisher.js');
  */
 class LifecyclePublisher extends Publisher {
   constructor(handle, typeClass, topic, options) {
-    super(handle, typeClass, options);
+    super(handle, typeClass, /*topic=*/'', options);
 
     this._enabled = false;
     this._loggger = Logging.getLogger('LifecyclePublisher');

lib/node.js

@@ -502,6 +502,10 @@ class Node extends rclnodejs.ShadowNode {
       options = Object.assign(options, { isRaw: false });
     }
 
+    if (options.willCheckConsistency === undefined) {
+      options = Object.assign(options, { willCheckConsistency: false });
+    }
+
     return options;
   }
 
@@ -588,6 +592,7 @@ class Node extends rclnodejs.ShadowNode {
    * @param {object} options - The options argument used to parameterize the publisher.
    * @param {boolean} options.enableTypedArray - The topic will use TypedArray if necessary, default: true.
    * @param {QoS} options.qos - ROS Middleware "quality of service" settings for the publisher, default: QoS.profileDefault.
+   * @param {boolean} options.willCheckConsistency - Pulisher will check the consistancy of the message to be sent, default: false.
    * @return {Publisher} - An instance of Publisher.
    */
   createPublisher(typeClass, topic, options) {
@@ -690,6 +695,7 @@ class Node extends rclnodejs.ShadowNode {
    * @param {object} options - The options argument used to parameterize the client.
    * @param {boolean} options.enableTypedArray - The response will use TypedArray if necessary, default: true.
    * @param {QoS} options.qos - ROS Middleware "quality of service" settings for the client, default: QoS.profileDefault.
+   * @param {boolean} options.willCheckConsistency - Client will check the consistancy of the message to be sent, default: false.
    * @return {Client} - An instance of Client.
    */
   createClient(typeClass, serviceName, options) {
@@ -1690,6 +1696,7 @@ Node.getDefaultOptions = function () {
     isRaw: false,
     qos: QoS.profileDefault,
     contentFilter: undefined,
+    willCheckConsistency: false
   };
 };
 

lib/publisher.js

@@ -53,7 +53,7 @@ class Publisher extends Entity {
         message instanceof this._typeClass
           ? message
           : new this._typeClass(message);
-
+      messageToSend._willCheckConsistency = this._options.willCheckConsistency;
       let rawMessage = messageToSend.serialize();
       rclnodejs.publish(this._handle, rawMessage);
     }

rosidl_gen/generator.json

@@ -1,6 +1,6 @@
 {
   "name": "rosidl-generator",
-  "version": "0.3.5",
+  "version": "0.3.6",
   "description": "Generate JavaScript object from ROS IDL(.msg) files",
   "main": "index.js",
   "authors": [

rosidl_gen/templates/message.dot

@@ -269,8 +269,9 @@ const {{=refObjectArrayType}} = StructType({
 
 // Define the wrapper class.
 class {{=objectWrapper}} {
-  constructor(other) {
+  constructor(other, willCheckConsistency = false) {
     this._wrapperFields = {};
+    this._willCheckConsistency = willCheckConsistency;
     {{~ it.spec.fields :field}}
     {{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
     this._{{=field.name}}Array = [];
@@ -366,15 +367,13 @@ class {{=objectWrapper}} {
   }
 
   freeze(own = false, checkConsistency = false) {
-    if (checkConsistency) {
     {{~ it.spec.fields :field}}
       {{? field.type.isPrimitiveType && !field.type.isArray}}
-      if (!this._{{=field.name}}Intialized) {
+      if (checkConsistency && !this._{{=field.name}}Intialized) {
         throw new TypeError('Invalid argument: {{=field.name}} in {{=it.spec.msgName}}');
       }
       {{?}}
     {{~}}
-    }
 
     {{~ it.spec.fields :field}}
     {{? field.type.isArray && field.type.isPrimitiveType && field.type.isFixedSizeArray}}
@@ -420,7 +419,7 @@ class {{=objectWrapper}} {
   }
 
   serialize() {
-    this.freeze(false, true);
+    this.freeze(/*own=*/false, this._willCheckConsistency);
     return this._refObject.ref();
   }
 

test/test-security-related.js

@@ -217,7 +217,7 @@ describe('Fuzzing API calls testing', function () {
     var node = rclnodejs.createNode('node1', '/inconsistent');
     const RclString = 'std_msgs/msg/String';
 
-    var publisher = node.createPublisher(RclString, 'chatter7');
+    var publisher = node.createPublisher(RclString, 'chatter7', {willCheckConsistency: true});
     assertThrowsError(
       () => {
         publisher.publish({ a: 1 });
@@ -227,6 +227,18 @@ describe('Fuzzing API calls testing', function () {
       `Type should be ${RclString}`
     );
 
+    const String = rclnodejs.require(RclString);
+    const str = new String();
+    str.a = 1;
+    assertThrowsError(
+      () => {
+        publisher.publish(str);
+      },
+      TypeError,
+      'Invalid argument',
+      `Type should be ${RclString}`
+    );
+
     rclnodejs.spin(node);
     node.destroy();
   });
@@ -235,7 +247,7 @@ describe('Fuzzing API calls testing', function () {
     var node = rclnodejs.createNode('node2', '/inconsistent');
     const AddTwoInts = 'example_interfaces/srv/AddTwoInts';
 
-    var client = node.createClient(AddTwoInts, 'add_two_ints');
+    var client = node.createClient(AddTwoInts, 'add_two_ints', {willCheckConsistency: true});
     var service = node.createService(
       AddTwoInts,
       'add_two_ints',
@@ -258,6 +270,19 @@ describe('Fuzzing API calls testing', function () {
       'Invalid argument',
       'request.b does not exist'
     );
+
+    const Request = rclnodejs.require(AddTwoInts).Request;
+    const req = new Request();
+    req.a = 1;
+    assertThrowsError(
+      () => {
+        client.sendRequest(req, (response) => {});
+      },
+      TypeError,
+      'Invalid argument',
+      'request.b does not exist'
+    );
+
     rclnodejs.spin(node);
     node.destroy();
   });