[Test] Stabilize message-translator tests on Node.js 26.4 (#1555)

The complex/primitive message-translator tests created a publisher and subscriber on one topic, published a single message, then spun. With volatile QoS that lone sample is only delivered if pub/sub discovery completes within the first DDS announcement window; when that window is missed, matching only recovers on the next full announcement cycle (~30s per case), making the CI suite appear to hang.

Republish on a 100ms interval until the subscription receives the message, bounded to 55s so the timer self-cleans before the Mocha timeout, and clear the interval + destroy the node on both the success and failure paths.

Fix: #1556

Author: minggangw

test/test-message-translator-complex.js

@@ -209,16 +209,33 @@ describe('Rclnodejs message translation: complex types', function () {
           const MessageType = testData.pkg + '/msg/' + testData.type;
           const publisher = node.createPublisher(MessageType, topic);
           return new Promise((resolve, reject) => {
+            let timer;
             const sub = node.createSubscription(MessageType, topic, (value) => {
               if (deepEqual(value, v)) {
+                clearInterval(timer);
                 node.destroy();
                 resolve();
               } else {
+                clearInterval(timer);
+                node.destroy();
                 console.log('got', value);
                 console.log('expected', v);
                 reject('case ' + i + '. Expected: ' + v + ', Got: ' + value);
               }
             });
+            // Keep republishing until the subscription is matched and the
+            // message is received; a single publish can be lost while pub/sub
+            // discovery is still in progress.
+            const start = Date.now();
+            timer = setInterval(() => {
+              if (Date.now() - start > 55 * 1000) {
+                clearInterval(timer);
+                node.destroy();
+                reject('Timed out waiting for message');
+                return;
+              }
+              publisher.publish(v);
+            }, 100);
             publisher.publish(v);
             rclnodejs.spin(node);
           });

test/test-message-translator-primitive.js

@@ -94,18 +94,31 @@ describe('Rclnodejs message translation: primitive types', function () {
           const MessageType = 'std_msgs/msg/' + testData.type;
           const publisher = node.createPublisher(MessageType, topic);
           return new Promise((resolve, reject) => {
+            let timer;
             const sub = node.createSubscription(MessageType, topic, (value) => {
               // For primitive types, msgs are defined as a single `.data` field
               if (value.data === v) {
+                clearInterval(timer);
                 node.destroy();
                 resolve();
               } else {
+                clearInterval(timer);
                 node.destroy();
                 reject(
                   'case ' + i + '. Expected: ' + v + ', Got: ' + value.data
                 );
               }
             });
+            const start = Date.now();
+            timer = setInterval(() => {
+              if (Date.now() - start > 55 * 1000) {
+                clearInterval(timer);
+                node.destroy();
+                reject('Timed out waiting for message');
+                return;
+              }
+              publisher.publish(v);
+            }, 100);
             publisher.publish(v); // Short-cut form of publishing primitive types
             rclnodejs.spin(node);
           });
@@ -119,18 +132,31 @@ describe('Rclnodejs message translation: primitive types', function () {
           const MessageType = 'std_msgs/msg/' + testData.type;
           const publisher = node.createPublisher(MessageType, topic);
           return new Promise((resolve, reject) => {
+            let timer;
             const sub = node.createSubscription(MessageType, topic, (value) => {
               // For primitive types, msgs are defined as a single `.data` field
               if (value.data === v) {
+                clearInterval(timer);
                 node.destroy();
                 resolve();
               } else {
+                clearInterval(timer);
                 node.destroy();
                 reject(
                   'case ' + i + '. Expected: ' + v + ', Got: ' + value.data
                 );
               }
             });
+            const start = Date.now();
+            timer = setInterval(() => {
+              if (Date.now() - start > 55 * 1000) {
+                clearInterval(timer);
+                node.destroy();
+                reject('Timed out waiting for message');
+                return;
+              }
+              publisher.publish({ data: v });
+            }, 100);
             publisher.publish({ data: v }); // Ensure the original form of the message can be used
             rclnodejs.spin(node);
           });
@@ -221,27 +247,41 @@ describe('Rclnodejs message translation: primitive types array', function () {
         const MessageType = 'std_msgs/msg/' + testData.type;
         const publisher = node.createPublisher(MessageType, topic);
         return new Promise((resolve, reject) => {
+          let timer;
           const sub = node.createSubscription(MessageType, topic, (value) => {
             // For primitive types, msgs are defined as a single `.data` field
             if (
               (isTypedArray(value.data) &&
                 deepEqual(Array.from(value.data), testData.values)) ||
               deepEqual(value.data, testData.values)
             ) {
+              clearInterval(timer);
               node.destroy();
               resolve();
             } else {
+              clearInterval(timer);
               node.destroy();
               reject('Expected: ' + testData.values + ', Got: ' + value.data);
             }
           });
-          publisher.publish({
+          const msg = {
             layout: {
               dim: [{ label: 'length', size: 0, stride: 0 }],
               data_offset: 0,
             },
             data: testData.values,
-          });
+          };
+          const start = Date.now();
+          timer = setInterval(() => {
+            if (Date.now() - start > 55 * 1000) {
+              clearInterval(timer);
+              node.destroy();
+              reject('Timed out waiting for message');
+              return;
+            }
+            publisher.publish(msg);
+          }, 100);
+          publisher.publish(msg);
           rclnodejs.spin(node);
         });
       }
@@ -478,16 +518,19 @@ describe('Rclnodejs message translation: TypedArray large data', function () {
         const MessageType = 'std_msgs/msg/' + testData.type;
         const publisher = node.createPublisher(MessageType, topic);
         return new Promise((resolve, reject) => {
+          let timer;
           const sub = node.createSubscription(MessageType, topic, (value) => {
             // For primitive types, msgs are defined as a single `.data` field
             if (
               (isTypedArray(value.data) &&
                 deepEqual(Array.from(value.data), testData.values)) ||
               deepEqual(value.data, testData.values)
             ) {
+              clearInterval(timer);
               node.destroy();
               resolve();
             } else {
+              clearInterval(timer);
               node.destroy();
               reject(
                 'Expected: ' +
@@ -497,13 +540,24 @@ describe('Rclnodejs message translation: TypedArray large data', function () {
               );
             }
           });
-          publisher.publish({
+          const msg = {
             layout: {
               dim: [{ label: 'length', size: 0, stride: 0 }],
               data_offset: 0,
             },
             data: testData.values,
-          });
+          };
+          const start = Date.now();
+          timer = setInterval(() => {
+            if (Date.now() - start > 55 * 1000) {
+              clearInterval(timer);
+              node.destroy();
+              reject('Timed out waiting for message');
+              return;
+            }
+            publisher.publish(msg);
+          }, 100);
+          publisher.publish(msg);
           rclnodejs.spin(node);
         });
       }