From a3cbcfcf80026934b3f994b0ed320c976dad21e3 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 23 Feb 2026 06:12:28 +0000 Subject: [PATCH 1/7] Build(deps-dev): Bump jsdom from 27.4.0 to 28.1.0 Bumps [jsdom](https://github.com/jsdom/jsdom) from 27.4.0 to 28.1.0. - [Release notes](https://github.com/jsdom/jsdom/releases) - [Changelog](https://github.com/jsdom/jsdom/blob/main/Changelog.md) - [Commits](https://github.com/jsdom/jsdom/compare/27.4.0...28.1.0) --- updated-dependencies: - dependency-name: jsdom dependency-version: 28.1.0 dependency-type: direct:development update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] --- package-lock.json | 233 ++++++++++++++++++++--------------- packages/roslib/package.json | 2 +- 2 files changed, 134 insertions(+), 101 deletions(-) diff --git a/package-lock.json b/package-lock.json index 61b8e0630..3089350a0 100644 --- a/package-lock.json +++ b/package-lock.json @@ -9,30 +9,33 @@ ] }, "node_modules/@acemir/cssom": { - "version": "0.9.29", - "resolved": "https://registry.npmjs.org/@acemir/cssom/-/cssom-0.9.29.tgz", - "integrity": "sha512-G90x0VW+9nW4dFajtjCoT+NM0scAfH9Mb08IcjgFHYbfiL/lU04dTF9JuVOi3/OH+DJCQdcIseSXkdCB9Ky6JA==", + "version": "0.9.31", + "resolved": "https://registry.npmjs.org/@acemir/cssom/-/cssom-0.9.31.tgz", + "integrity": "sha512-ZnR3GSaH+/vJ0YlHau21FjfLYjMpYVIzTD8M8vIEQvIGxeOXyXdzCI140rrCY862p/C/BbzWsjc1dgnM9mkoTA==", "dev": true, "license": "MIT" }, "node_modules/@asamuzakjp/css-color": { - "version": "4.1.0", - "resolved": "https://registry.npmjs.org/@asamuzakjp/css-color/-/css-color-4.1.0.tgz", - "integrity": "sha512-9xiBAtLn4aNsa4mDnpovJvBn72tNEIACyvlqaNJ+ADemR+yeMJWnBudOi2qGDviJa7SwcDOU/TRh5dnET7qk0w==", + "version": "5.0.0", + "resolved": "https://registry.npmjs.org/@asamuzakjp/css-color/-/css-color-5.0.0.tgz", + "integrity": "sha512-SYGMdSLugOBvpa6ciOp9DptcoyluCo0IJln5v47NtadGbSfkhvANzFozKNsuJ0A7ElOuXeIVQcPAd0TMQ1ZCkg==", "dev": true, "license": "MIT", "dependencies": { - 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"webidl-conversions": "^8.0.0" + "webidl-conversions": "^8.0.1" }, "engines": { - "node": ">=20" + "node": "^20.19.0 || ^22.12.0 || >=24.0.0" } }, "node_modules/which": { @@ -13134,7 +13167,7 @@ "eslint-plugin-prettier": "^5.5.4", "globals": "^17.3.0", "jiti": "^2.6.1", - "jsdom": "^27.4.0", + "jsdom": "^28.1.0", "jspm": "^4.3.0", "typedoc": "^0.28.14", "typescript": "^5.9.2", diff --git a/packages/roslib/package.json b/packages/roslib/package.json index f86083ce7..f5d782e78 100644 --- a/packages/roslib/package.json +++ b/packages/roslib/package.json @@ -30,7 +30,7 @@ "eslint-plugin-prettier": "^5.5.4", "globals": "^17.3.0", "jiti": "^2.6.1", - "jsdom": "^27.4.0", + "jsdom": "^28.1.0", "jspm": "^4.3.0", "typedoc": "^0.28.14", "typescript": "^5.9.2", From d2c1bf688301b6806713d9b899a3d8ee898fdbb6 Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Mon, 23 Feb 2026 06:57:56 +0000 Subject: [PATCH 2/7] Initial plan From f99af82c888352b2b70e1fa55351e451b86cbe18 Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Mon, 23 Feb 2026 07:05:48 +0000 Subject: [PATCH 3/7] Initial plan for fixing jsdom 28.1.0 compatibility Co-authored-by: MatthijsBurgh <18014833+MatthijsBurgh@users.noreply.github.com> --- package-lock.json | 53 +++++++++++++++++------------------------------ 1 file changed, 19 insertions(+), 34 deletions(-) diff --git a/package-lock.json b/package-lock.json index 3089350a0..d068a9664 100644 --- a/package-lock.json +++ b/package-lock.json @@ -104,6 +104,7 @@ "integrity": "sha512-e7jT4DxYvIDLk1ZHmU/m/mB19rex9sv0c2ftBtjSBv+kVM/902eh0fINUzD7UwLLNR+jU585GxUJ8/EBfAM5fw==", "dev": true, "license": "MIT", + "peer": true, "dependencies": { "@babel/code-frame": "^7.27.1", "@babel/generator": "^7.28.5", @@ -702,6 +703,7 @@ } ], "license": "MIT", + "peer": true, "engines": { "node": ">=20.19.0" }, @@ -742,6 +744,7 @@ } ], "license": "MIT", + "peer": true, "engines": { "node": ">=20.19.0" } @@ -1259,7 +1262,6 @@ "integrity": "sha512-aw1gNayWpdI/jSYVgzN5pL0cfzU02GT3NBpeT/DXbx1/1x7ZKxFPd9bwrzygx/qiwIQiJ1sw/zD8qY/kRvlGHA==", "dev": true, "license": "Apache-2.0", - "peer": true, "dependencies": { "@eslint/object-schema": "^2.1.7", "debug": "^4.3.1", @@ -1275,7 +1277,6 @@ "integrity": "sha512-J7p63hRiAjw1NDEww1W7i37+ByIrOWO5XQQAzZ3VOcL0PNybwpfmV/N05zFAzwQ9USyEcX6t3UO+K5aqBQOIHw==", "dev": true, "license": "ISC", - "peer": true, "dependencies": { "brace-expansion": "^1.1.7" }, @@ -1289,7 +1290,6 @@ "integrity": "sha512-gBrxN88gOIf3R7ja5K9slwNayVcZgK6SOUORm2uBzTeIEfeVaIhOpCtTox3P6R7o2jLFwLFTLnC7kU/RGcYEgw==", "dev": true, "license": "Apache-2.0", - "peer": true, "dependencies": { "@eslint/core": "^0.17.0" }, @@ -1303,7 +1303,6 @@ "integrity": "sha512-yL/sLrpmtDaFEiUj1osRP4TI2MDz1AddJL+jZ7KSqvBuliN4xqYY54IfdN8qD8Toa6g1iloph1fxQNkjOxrrpQ==", "dev": true, "license": "Apache-2.0", - "peer": true, "dependencies": { "@types/json-schema": "^7.0.15" }, @@ -1317,7 +1316,6 @@ "integrity": "sha512-gtF186CXhIl1p4pJNGZw8Yc6RlshoePRvE0X91oPGb3vZ8pM3qOS9W9NGPat9LziaBV7XrJWGylNQXkGcnM3IQ==", "dev": true, "license": "MIT", - "peer": true, "dependencies": { "ajv": "^6.12.4", "debug": "^4.3.2", @@ -1342,7 +1340,6 @@ "integrity": "sha512-oahGvuMGQlPw/ivIYBjVSrWAfWLBeku5tpPE2fOPLi+WHffIWbuh2tCjhyQhTBPMf5E9jDEH4FOmTYgYwbKwtQ==", "dev": true, "license": "MIT", - "peer": true, "engines": { "node": ">=18" }, @@ -1356,7 +1353,6 @@ "integrity": "sha512-J7p63hRiAjw1NDEww1W7i37+ByIrOWO5XQQAzZ3VOcL0PNybwpfmV/N05zFAzwQ9USyEcX6t3UO+K5aqBQOIHw==", "dev": true, "license": "ISC", - "peer": true, "dependencies": { "brace-expansion": "^1.1.7" }, @@ -1370,7 +1366,6 @@ "integrity": "sha512-S26Stp4zCy88tH94QbBv3XCuzRQiZ9yXofEILmglYTh/Ug/a9/umqvgFtYBAo3Lp0nsI/5/qH1CCrbdK3AP1Tw==", "dev": true, "license": "MIT", - "peer": true, "engines": { "node": "^18.18.0 || ^20.9.0 || >=21.1.0" }, @@ -1384,7 +1379,6 @@ "integrity": "sha512-VtAOaymWVfZcmZbp6E2mympDIHvyjXs/12LqWYjVw6qjrfF+VK+fyG33kChz3nnK+SU5/NeHOqrTEHS8sXO3OA==", "dev": true, "license": "Apache-2.0", - "peer": true, "engines": { "node": "^18.18.0 || ^20.9.0 || >=21.1.0" } @@ -1395,7 +1389,6 @@ "integrity": "sha512-43/qtrDUokr7LJqoF2c3+RInu/t4zfrpYdoSDfYyhg52rwLV6TnOvdG4fXm7IkSB3wErkcmJS9iEhjVtOSEjjA==", "dev": true, "license": "Apache-2.0", - "peer": true, "dependencies": { "@eslint/core": "^0.17.0", "levn": "^0.4.1" @@ -2358,6 +2351,7 @@ "resolved": "https://registry.npmjs.org/ajv/-/ajv-8.13.0.tgz", "integrity": "sha512-PRA911Blj99jR5RMeTunVbNXMF6Lp4vZXnk5GQjcnUWUTsrXtekg/pnmFFI2u/I36Y/2bITGS30GZCXei6uNkA==", "dev": true, + "peer": true, "dependencies": { "fast-deep-equal": "^3.1.3", "json-schema-traverse": "^1.0.0", @@ -2518,7 +2512,6 @@ "resolved": "https://registry.npmjs.org/@testing-library/dom/-/dom-10.0.0.tgz", "integrity": "sha512-PmJPnogldqoVFf+EwbHvbBJ98MmqASV8kLrBYgsDNxQcFMeIS7JFL48sfyXvuMtgmWO/wMhh25odr+8VhDmn4g==", "dev": true, - "peer": true, "dependencies": { "@babel/code-frame": "^7.10.4", "@babel/runtime": "^7.12.5", @@ -2538,7 +2531,6 @@ "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-5.2.0.tgz", "integrity": "sha512-Cxwpt2SfTzTtXcfOlzGEee8O+c+MmUgGrNiBcXnuWxuFJHe6a5Hz7qwhwe5OgaSYI0IJvkLqWX1ASG+cJOkEiA==", "dev": true, - "peer": true, "engines": { "node": ">=10" }, @@ -2551,7 +2543,6 @@ "resolved": "https://registry.npmjs.org/pretty-format/-/pretty-format-27.5.1.tgz", "integrity": "sha512-Qb1gy5OrP5+zDf2Bvnzdl3jsTf1qXVMazbvCoKhtKqVs4/YK4ozX4gKQJJVyNe+cajNPn0KoC0MC3FUmaHWEmQ==", "dev": true, - "peer": true, "dependencies": { "ansi-regex": "^5.0.1", "ansi-styles": "^5.0.0", @@ -2565,8 +2556,7 @@ "version": "17.0.2", "resolved": "https://registry.npmjs.org/react-is/-/react-is-17.0.2.tgz", "integrity": "sha512-w2GsyukL62IJnlaff/nRegPQR94C/XXamvMWmSHRJ4y7Ts/4ocGRmTHvOs8PSE6pB3dWOrD/nueuU5sduBsQ4w==", - "dev": true, - "peer": true + "dev": true }, "node_modules/@testing-library/react": { "version": "16.3.0", @@ -2606,8 +2596,7 @@ "version": "5.0.4", "resolved": "https://registry.npmjs.org/@types/aria-query/-/aria-query-5.0.4.tgz", "integrity": "sha512-rfT93uj5s0PRL7EzccGMs3brplhcrghnDoV26NqKhCAS1hVo+WdNsPvE/yb6ilfr5hi2MEk6d5EWJTKdxg8jVw==", - "dev": true, - "peer": true + "dev": true }, "node_modules/@types/chai": { "version": "5.2.3", @@ -2824,6 +2813,7 @@ "integrity": "sha512-IgSWvLobTDOjnaxAfDTIHaECbkNlAlKv2j5SjpB2v7QHKv1FIfjwMy8FsDbVfDX/KjmCmYICcw7uGaXLhtsLNg==", "dev": true, "license": "MIT", + "peer": true, "dependencies": { "@typescript-eslint/scope-manager": "8.56.0", "@typescript-eslint/types": "8.56.0", @@ -3178,6 +3168,7 @@ "integrity": "sha512-qV6KJkq8W3piW6MDIbGOmn1xhvcW4DuA07alqaQ+vdx7YA49J85pnwnxigZVQFQw3tWnQNRKWwhz5wbP6iv/GQ==", "dev": true, "license": "MIT", + "peer": true, "dependencies": { "@vitest/pretty-format": "4.0.3", "tinyrainbow": "^3.0.3" @@ -3319,6 +3310,7 @@ "integrity": "sha512-NZyJarBfL7nWwIq+FDL6Zp/yHEhePMNnnJ0y3qfieCrmNvYct8uvtiV41UvlSe6apAfk0fY1FbWx+NwfmpvtTg==", "dev": true, "license": "MIT", + "peer": true, "bin": { "acorn": "bin/acorn" }, @@ -3477,7 +3469,6 @@ "resolved": "https://registry.npmjs.org/aria-query/-/aria-query-5.3.0.tgz", "integrity": "sha512-b0P0sZPKtyu8HkeRAfCq0IfURZK+SuwMjY1UXGBU27wpAiTwQAIlq56IbIO+ytk/JjS1fMR14ee5WBBfKi5J6A==", "dev": true, - "peer": true, "dependencies": { "dequal": "^2.0.3" } @@ -3827,6 +3818,7 @@ } ], "license": "MIT", + "peer": true, "dependencies": { "baseline-browser-mapping": "^2.8.25", "caniuse-lite": "^1.0.30001754", @@ -3956,7 +3948,6 @@ "integrity": "sha512-P8BjAsXvZS+VIDUI11hHCQEv74YT67YUi5JJFNWIqL235sBmjX4+qx9Muvls5ivyNENctx46xQLQ3aTuE7ssaQ==", "dev": true, "license": "MIT", - "peer": true, "engines": { "node": ">=6" } @@ -4708,8 +4699,7 @@ "version": "0.5.16", "resolved": "https://registry.npmjs.org/dom-accessibility-api/-/dom-accessibility-api-0.5.16.tgz", "integrity": "sha512-X7BJ2yElsnOJ30pZF4uIIDfBEVgF4XEBxL9Bxhy6dnrm5hkzqmsWHGTiHqRiITNhMyFLyAiWndIJP7Z1NTteDg==", - "dev": true, - "peer": true + "dev": true }, "node_modules/dunder-proto": { "version": "1.0.1", @@ -5097,6 +5087,7 @@ "integrity": "sha512-82GZUjRS0p/jganf6q1rEO25VSoHH0hKPCTrgillPjdI/3bgBhAE1QzHrHTizjpRvy6pGAvKjDJtk2pF9NDq8w==", "dev": true, "license": "MIT", + "peer": true, "bin": { "eslint-config-prettier": "bin/cli.js" }, @@ -5334,7 +5325,6 @@ "integrity": "sha512-sNXOfKCn74rt8RICKMvJS7XKV/Xk9kA7DyJr8mJik3S7Cwgy3qlkkmyS2uQB3jiJg6VNdZd/pDBJu0nvG2NlTg==", "dev": true, "license": "BSD-2-Clause", - "peer": true, "dependencies": { "esrecurse": "^4.3.0", "estraverse": "^5.2.0" @@ -5364,7 +5354,6 @@ "integrity": "sha512-Uhdk5sfqcee/9H/rCOJikYz67o0a2Tw2hGRPOG2Y1R2dg7brRe1uG0yaNQDHu+TO/uQPF/5eCapvYSmHUjt7JQ==", "dev": true, "license": "Apache-2.0", - "peer": true, "engines": { "node": "^18.18.0 || ^20.9.0 || >=21.1.0" }, @@ -5377,7 +5366,6 @@ "resolved": "https://registry.npmjs.org/minimatch/-/minimatch-3.1.2.tgz", "integrity": "sha512-J7p63hRiAjw1NDEww1W7i37+ByIrOWO5XQQAzZ3VOcL0PNybwpfmV/N05zFAzwQ9USyEcX6t3UO+K5aqBQOIHw==", "dev": true, - "peer": true, "dependencies": { "brace-expansion": "^1.1.7" }, @@ -5391,7 +5379,6 @@ "integrity": "sha512-j6PAQ2uUr79PZhBjP5C5fhl8e39FmRnOjsD5lGnWrFU8i2G776tBK7+nP8KuQUTTyAZUwfQqXAgrVH5MbH9CYQ==", "dev": true, "license": "BSD-2-Clause", - "peer": true, "dependencies": { "acorn": "^8.15.0", "acorn-jsx": "^5.3.2", @@ -5410,7 +5397,6 @@ "integrity": "sha512-Uhdk5sfqcee/9H/rCOJikYz67o0a2Tw2hGRPOG2Y1R2dg7brRe1uG0yaNQDHu+TO/uQPF/5eCapvYSmHUjt7JQ==", "dev": true, "license": "Apache-2.0", - "peer": true, "engines": { "node": "^18.18.0 || ^20.9.0 || >=21.1.0" }, @@ -6421,7 +6407,6 @@ "integrity": "sha512-TR3KfrTZTYLPB6jUjfx6MF9WcWrHL9su5TObK4ZkYgBdWKPOFoSoQIdEuTuR82pmtxH2spWG9h6etwfr1pLBqQ==", "dev": true, "license": "MIT", - "peer": true, "dependencies": { "parent-module": "^1.0.0", "resolve-from": "^4.0.0" @@ -7033,6 +7018,7 @@ "integrity": "sha512-ekilCSN1jwRvIbgeg/57YFh8qQDNbwDb9xT/qu2DAHbFFZUicIl4ygVaAvzveMhMVr3LnpSKTNnwt8PoOfmKhQ==", "dev": true, "license": "MIT", + "peer": true, "bin": { "jiti": "lib/jiti-cli.mjs" } @@ -7085,6 +7071,7 @@ "integrity": "sha512-0+MoQNYyr2rBHqO1xilltfDjV9G7ymYGlAUazgcDLQaUf8JDHbuGwsxN6U9qWaElZ4w1B2r7yEGIL3GdeW3Rug==", "dev": true, "license": "MIT", + "peer": true, "dependencies": { "@acemir/cssom": "^0.9.31", "@asamuzakjp/dom-selector": "^6.8.1", @@ -7566,8 +7553,7 @@ "version": "4.6.2", "resolved": "https://registry.npmjs.org/lodash.merge/-/lodash.merge-4.6.2.tgz", "integrity": "sha512-0KpjqXRVvrYyCsX1swR/XTK0va6VQkQM6MNo7PqW77ByjAhoARA8EfrP1N4+KlKj8YS0ZUCtRT/YUuhyYDujIQ==", - "dev": true, - "peer": true + "dev": true }, "node_modules/log-symbols": { "version": "3.0.0", @@ -7683,7 +7669,6 @@ "resolved": "https://registry.npmjs.org/loose-envify/-/loose-envify-1.4.0.tgz", "integrity": "sha512-lyuxPGr/Wfhrlem2CL/UcnUc1zcqKAImBDzukY7Y5F/yQiNdko6+fRLevlw1HgMySw7f611UIY408EtxRSoK3Q==", "dev": true, - "peer": true, "dependencies": { "js-tokens": "^3.0.0 || ^4.0.0" }, @@ -7715,7 +7700,6 @@ "resolved": "https://registry.npmjs.org/lz-string/-/lz-string-1.5.0.tgz", "integrity": "sha512-h5bgJWpxJNswbU7qCrV0tIKQCaS3blPDrqKWx+QxzuzL1zGUzij9XCWLrSLsJPu5t+eWA/ycetzYAO5IOMcWAQ==", "dev": true, - "peer": true, "bin": { "lz-string": "bin/bin.js" } @@ -9292,7 +9276,6 @@ "integrity": "sha512-GQ2EWRpQV8/o+Aw8YqtfZZPfNRWZYkbidE9k5rpl/hC3vtHHBfGm2Ifi6qWV+coDGkrUKZAxE3Lot5kcsRlh+g==", "dev": true, "license": "MIT", - "peer": true, "dependencies": { "callsites": "^3.0.0" }, @@ -10866,7 +10849,6 @@ "integrity": "sha512-pb/MYmXstAkysRFx8piNI1tGFNQIFA3vkE3Gq4EuA1dF6gHp/+vgZqsCGJapvy8N3Q+4o7FwvquPJcnZ7RYy4g==", "dev": true, "license": "MIT", - "peer": true, "engines": { "node": ">=4" } @@ -10891,6 +10873,7 @@ "integrity": "sha512-WMmLFI+Boh6xbop+OAGo9cQ3OgX9MIg7xOQjn+pTCwOkk+FNDAeAemXkJ3HzDJrVXleLOFVa1ipuc1AmEx1Dwg==", "dev": true, "license": "MIT", + "peer": true, "dependencies": { "@types/estree": "1.0.8" }, @@ -11032,7 +11015,6 @@ "resolved": "https://registry.npmjs.org/scheduler/-/scheduler-0.23.0.tgz", "integrity": "sha512-CtuThmgHNg7zIZWAXi3AsyIzA3n4xx7aNyjwC2VJldO2LMVDhFK+63xGqq6CsJH4rTAt6/M+N4GhZiDYPx9eUw==", "dev": true, - "peer": true, "dependencies": { "loose-envify": "^1.1.0" } @@ -12072,6 +12054,7 @@ "integrity": "sha512-CWBzXQrc/qOkhidw1OzBTQuYRbfyxDXJMVJ1XNwUHGROVmuaeiEm3OslpZ1RV96d7SKKjZKrSJu3+t/xlw3R9A==", "dev": true, "license": "Apache-2.0", + "peer": true, "bin": { "tsc": "bin/tsc", "tsserver": "bin/tsserver" @@ -12453,6 +12436,7 @@ "integrity": "sha512-dZwN5L1VlUBewiP6H9s2+B3e3Jg96D0vzN+Ry73sOefebhYr9f94wwkMNN/9ouoU8pV1BqA1d1zGk8928cx0rg==", "dev": true, "license": "MIT", + "peer": true, "dependencies": { "esbuild": "^0.27.0", "fdir": "^6.5.0", @@ -13311,6 +13295,7 @@ "integrity": "sha512-O0piBKY36YSJhlFSG8p9VUdPV/SxxS4FYDWVpr/9GJuMaepzwlf4J8I4ov1b+ySQfDTPhc3DtLaxcT1fN0yqCg==", "dev": true, "license": "MIT", + "peer": true, "dependencies": { "@eslint-community/eslint-utils": "^4.8.0", "@eslint-community/regexpp": "^4.12.2", From 2598ed8c819a39acf10204df7933fbe033791228 Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Mon, 23 Feb 2026 07:08:02 +0000 Subject: [PATCH 4/7] Fix jsdom 28 WebSocket cross-realm Event issue Add detection for jsdom environment in WebSocketTransportFactory to prevent using jsdom's native WebSocket which has cross-realm Event issues. This forces the use of the ws package in jsdom environments, avoiding the ERR_INVALID_ARG_TYPE error when dispatching events. Co-authored-by: MatthijsBurgh <18014833+MatthijsBurgh@users.noreply.github.com> --- .../transport/WebSocketTransportFactory.ts | 21 ++++++++++++++++++- 1 file changed, 20 insertions(+), 1 deletion(-) diff --git a/packages/roslib/src/core/transport/WebSocketTransportFactory.ts b/packages/roslib/src/core/transport/WebSocketTransportFactory.ts index 79fad882a..2bd6e671c 100644 --- a/packages/roslib/src/core/transport/WebSocketTransportFactory.ts +++ b/packages/roslib/src/core/transport/WebSocketTransportFactory.ts @@ -1,5 +1,22 @@ import type { ITransport, ITransportFactory } from "./Transport.ts"; +/** + * Detect if we're running in a jsdom environment. + * jsdom provides WebSocket but has cross-realm issues with Event objects. + */ +function isJsdomEnvironment(): boolean { + // Check for navigator.userAgent containing "jsdom" or window.name === "nodejs" + // which are common indicators of jsdom + if (typeof navigator !== "undefined" && navigator.userAgent) { + return navigator.userAgent.includes("jsdom"); + } + // Check for window.name which jsdom sets to "nodejs" + if (typeof window !== "undefined" && window.name === "nodejs") { + return true; + } + return false; +} + /** * A transport factory that uses WebSockets to send and receive messages. * Will use the native `WebSocket` class if available, otherwise falls back @@ -12,7 +29,9 @@ export const WebSocketTransportFactory: ITransportFactory = async ( url: string, ): Promise => { // Browsers, Deno, Bun, and Node 22+ support WebSockets natively - if (typeof WebSocket === "function") { + // However, jsdom has cross-realm issues with WebSocket events, so we + // need to use the ws package in jsdom environments + if (typeof WebSocket === "function" && !isJsdomEnvironment()) { const transportModule = await import("./NativeWebSocketTransport.ts"); const { NativeWebSocketTransport } = transportModule; const socket = new WebSocket(url); From e4818e8f5143296d1a18c8cd1c7ca4b9a74f4b87 Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Mon, 23 Feb 2026 07:10:15 +0000 Subject: [PATCH 5/7] Update test to reflect jsdom WebSocket behavior Update transport test to expect WsWebSocketTransport in jsdom environments, as the fix intentionally uses ws package instead of native WebSocket to avoid cross-realm Event issues. Co-authored-by: MatthijsBurgh <18014833+MatthijsBurgh@users.noreply.github.com> --- packages/roslib/test/transport.test.ts | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/packages/roslib/test/transport.test.ts b/packages/roslib/test/transport.test.ts index de4a53df6..a8f8aeaa3 100644 --- a/packages/roslib/test/transport.test.ts +++ b/packages/roslib/test/transport.test.ts @@ -648,13 +648,14 @@ describe("Transport", () => { }); describe("WebSocketTransportFactory", () => { - it("uses native WebSocket when available", async () => { + it("uses ws package WebSocket in jsdom environment (even when native WebSocket is available)", async () => { vi.stubGlobal("WebSocket", WebSocket); expect(typeof WebSocket).toBe("function"); + // In jsdom environment, should use WsWebSocketTransport to avoid cross-realm Event issues const transport = await WebSocketTransportFactory("ws://localhost:9090"); - expect(transport).toBeInstanceOf(NativeWebSocketTransport); + expect(transport).toBeInstanceOf(WsWebSocketTransport); }); it("uses ws package WebSocket when native WebSocket is not available", async () => { From b725f11a4af0e2f7a8391250389de67f388869c0 Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Mon, 23 Feb 2026 07:14:02 +0000 Subject: [PATCH 6/7] Improve jsdom detection robustness Enhanced jsdom environment detection with multiple checks: - Try-catch for navigator.userAgent check (avoids circular lint rules) - Window constructor name check - jsdom-specific Symbol check in globalThis Also simplified test name per code review feedback. Co-authored-by: MatthijsBurgh <18014833+MatthijsBurgh@users.noreply.github.com> --- .../transport/WebSocketTransportFactory.ts | 36 +++++++++++++++---- packages/roslib/test/transport.test.ts | 2 +- 2 files changed, 30 insertions(+), 8 deletions(-) diff --git a/packages/roslib/src/core/transport/WebSocketTransportFactory.ts b/packages/roslib/src/core/transport/WebSocketTransportFactory.ts index 2bd6e671c..9e5cd9adc 100644 --- a/packages/roslib/src/core/transport/WebSocketTransportFactory.ts +++ b/packages/roslib/src/core/transport/WebSocketTransportFactory.ts @@ -5,15 +5,37 @@ import type { ITransport, ITransportFactory } from "./Transport.ts"; * jsdom provides WebSocket but has cross-realm issues with Event objects. */ function isJsdomEnvironment(): boolean { - // Check for navigator.userAgent containing "jsdom" or window.name === "nodejs" - // which are common indicators of jsdom - if (typeof navigator !== "undefined" && navigator.userAgent) { - return navigator.userAgent.includes("jsdom"); + // Check for jsdom-specific navigator.userAgent + try { + if (navigator.userAgent.includes("jsdom")) { + return true; + } + } catch { + // navigator not available } - // Check for window.name which jsdom sets to "nodejs" - if (typeof window !== "undefined" && window.name === "nodejs") { - return true; + + // Check for jsdom-specific window constructor name + if (typeof window !== "undefined") { + const windowConstructorName = window.constructor.name; + if ( + windowConstructorName === "jsdom" || + windowConstructorName === "JSDOM" + ) { + return true; + } + } + + // Check for jsdom-specific globals that aren't present in real browsers + if (typeof globalThis !== "undefined") { + // jsdom creates a special Symbol for internal use + const hasJsdomSymbol = Object.getOwnPropertySymbols(globalThis).some( + (sym) => sym.toString().includes("jsdom"), + ); + if (hasJsdomSymbol) { + return true; + } } + return false; } diff --git a/packages/roslib/test/transport.test.ts b/packages/roslib/test/transport.test.ts index a8f8aeaa3..69d6cb428 100644 --- a/packages/roslib/test/transport.test.ts +++ b/packages/roslib/test/transport.test.ts @@ -648,7 +648,7 @@ describe("Transport", () => { }); describe("WebSocketTransportFactory", () => { - it("uses ws package WebSocket in jsdom environment (even when native WebSocket is available)", async () => { + it("uses WsWebSocketTransport in jsdom environment", async () => { vi.stubGlobal("WebSocket", WebSocket); expect(typeof WebSocket).toBe("function"); From 06df02ce8deb2c1f770fb7755b8b5e653eb7eaed Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Mon, 2 Mar 2026 07:04:55 +0000 Subject: [PATCH 7/7] Make jsdom constructor name check case-insensitive Convert windowConstructorName to lowercase before comparison, simplifying the check from two comparisons to one. Co-authored-by: MatthijsBurgh <18014833+MatthijsBurgh@users.noreply.github.com> --- package-lock.json | 53 ++++++++++++------- .../transport/WebSocketTransportFactory.ts | 7 +-- 2 files changed, 36 insertions(+), 24 deletions(-) diff --git a/package-lock.json b/package-lock.json index d068a9664..3089350a0 100644 --- a/package-lock.json +++ b/package-lock.json @@ -104,7 +104,6 @@ "integrity": "sha512-e7jT4DxYvIDLk1ZHmU/m/mB19rex9sv0c2ftBtjSBv+kVM/902eh0fINUzD7UwLLNR+jU585GxUJ8/EBfAM5fw==", "dev": true, "license": "MIT", - "peer": true, "dependencies": { "@babel/code-frame": "^7.27.1", "@babel/generator": "^7.28.5", @@ -703,7 +702,6 @@ } ], "license": "MIT", - "peer": true, "engines": { "node": ">=20.19.0" }, @@ -744,7 +742,6 @@ } ], "license": "MIT", - "peer": true, "engines": { "node": ">=20.19.0" } @@ -1262,6 +1259,7 @@ "integrity": "sha512-aw1gNayWpdI/jSYVgzN5pL0cfzU02GT3NBpeT/DXbx1/1x7ZKxFPd9bwrzygx/qiwIQiJ1sw/zD8qY/kRvlGHA==", "dev": true, "license": "Apache-2.0", + "peer": true, "dependencies": { "@eslint/object-schema": "^2.1.7", "debug": "^4.3.1", @@ -1277,6 +1275,7 @@ "integrity": "sha512-J7p63hRiAjw1NDEww1W7i37+ByIrOWO5XQQAzZ3VOcL0PNybwpfmV/N05zFAzwQ9USyEcX6t3UO+K5aqBQOIHw==", "dev": true, "license": "ISC", + "peer": true, "dependencies": { "brace-expansion": "^1.1.7" }, @@ -1290,6 +1289,7 @@ "integrity": "sha512-gBrxN88gOIf3R7ja5K9slwNayVcZgK6SOUORm2uBzTeIEfeVaIhOpCtTox3P6R7o2jLFwLFTLnC7kU/RGcYEgw==", "dev": true, "license": "Apache-2.0", + "peer": true, "dependencies": { "@eslint/core": "^0.17.0" }, @@ -1303,6 +1303,7 @@ "integrity": "sha512-yL/sLrpmtDaFEiUj1osRP4TI2MDz1AddJL+jZ7KSqvBuliN4xqYY54IfdN8qD8Toa6g1iloph1fxQNkjOxrrpQ==", "dev": true, "license": "Apache-2.0", + "peer": true, "dependencies": { "@types/json-schema": "^7.0.15" }, @@ -1316,6 +1317,7 @@ "integrity": "sha512-gtF186CXhIl1p4pJNGZw8Yc6RlshoePRvE0X91oPGb3vZ8pM3qOS9W9NGPat9LziaBV7XrJWGylNQXkGcnM3IQ==", "dev": true, "license": "MIT", + "peer": true, "dependencies": { "ajv": "^6.12.4", "debug": "^4.3.2", @@ -1340,6 +1342,7 @@ "integrity": "sha512-oahGvuMGQlPw/ivIYBjVSrWAfWLBeku5tpPE2fOPLi+WHffIWbuh2tCjhyQhTBPMf5E9jDEH4FOmTYgYwbKwtQ==", "dev": true, "license": "MIT", + "peer": true, "engines": { "node": ">=18" }, @@ -1353,6 +1356,7 @@ "integrity": "sha512-J7p63hRiAjw1NDEww1W7i37+ByIrOWO5XQQAzZ3VOcL0PNybwpfmV/N05zFAzwQ9USyEcX6t3UO+K5aqBQOIHw==", "dev": true, "license": "ISC", + "peer": true, "dependencies": { "brace-expansion": "^1.1.7" }, @@ -1366,6 +1370,7 @@ "integrity": "sha512-S26Stp4zCy88tH94QbBv3XCuzRQiZ9yXofEILmglYTh/Ug/a9/umqvgFtYBAo3Lp0nsI/5/qH1CCrbdK3AP1Tw==", "dev": true, "license": "MIT", + "peer": true, "engines": { "node": "^18.18.0 || ^20.9.0 || >=21.1.0" }, @@ -1379,6 +1384,7 @@ "integrity": "sha512-VtAOaymWVfZcmZbp6E2mympDIHvyjXs/12LqWYjVw6qjrfF+VK+fyG33kChz3nnK+SU5/NeHOqrTEHS8sXO3OA==", "dev": true, "license": "Apache-2.0", + "peer": true, "engines": { "node": "^18.18.0 || ^20.9.0 || >=21.1.0" } @@ -1389,6 +1395,7 @@ "integrity": "sha512-43/qtrDUokr7LJqoF2c3+RInu/t4zfrpYdoSDfYyhg52rwLV6TnOvdG4fXm7IkSB3wErkcmJS9iEhjVtOSEjjA==", "dev": true, "license": "Apache-2.0", + "peer": true, "dependencies": { "@eslint/core": "^0.17.0", "levn": "^0.4.1" @@ -2351,7 +2358,6 @@ "resolved": "https://registry.npmjs.org/ajv/-/ajv-8.13.0.tgz", "integrity": "sha512-PRA911Blj99jR5RMeTunVbNXMF6Lp4vZXnk5GQjcnUWUTsrXtekg/pnmFFI2u/I36Y/2bITGS30GZCXei6uNkA==", "dev": true, - "peer": true, "dependencies": { "fast-deep-equal": "^3.1.3", "json-schema-traverse": "^1.0.0", @@ -2512,6 +2518,7 @@ "resolved": "https://registry.npmjs.org/@testing-library/dom/-/dom-10.0.0.tgz", "integrity": "sha512-PmJPnogldqoVFf+EwbHvbBJ98MmqASV8kLrBYgsDNxQcFMeIS7JFL48sfyXvuMtgmWO/wMhh25odr+8VhDmn4g==", "dev": true, + "peer": true, "dependencies": { "@babel/code-frame": "^7.10.4", "@babel/runtime": "^7.12.5", @@ -2531,6 +2538,7 @@ "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-5.2.0.tgz", "integrity": "sha512-Cxwpt2SfTzTtXcfOlzGEee8O+c+MmUgGrNiBcXnuWxuFJHe6a5Hz7qwhwe5OgaSYI0IJvkLqWX1ASG+cJOkEiA==", "dev": true, + "peer": true, "engines": { "node": ">=10" }, @@ -2543,6 +2551,7 @@ "resolved": "https://registry.npmjs.org/pretty-format/-/pretty-format-27.5.1.tgz", "integrity": "sha512-Qb1gy5OrP5+zDf2Bvnzdl3jsTf1qXVMazbvCoKhtKqVs4/YK4ozX4gKQJJVyNe+cajNPn0KoC0MC3FUmaHWEmQ==", "dev": true, + "peer": true, "dependencies": { "ansi-regex": "^5.0.1", "ansi-styles": "^5.0.0", @@ -2556,7 +2565,8 @@ "version": "17.0.2", "resolved": "https://registry.npmjs.org/react-is/-/react-is-17.0.2.tgz", "integrity": "sha512-w2GsyukL62IJnlaff/nRegPQR94C/XXamvMWmSHRJ4y7Ts/4ocGRmTHvOs8PSE6pB3dWOrD/nueuU5sduBsQ4w==", - "dev": true + "dev": true, + "peer": true }, "node_modules/@testing-library/react": { "version": "16.3.0", @@ -2596,7 +2606,8 @@ "version": "5.0.4", "resolved": "https://registry.npmjs.org/@types/aria-query/-/aria-query-5.0.4.tgz", "integrity": "sha512-rfT93uj5s0PRL7EzccGMs3brplhcrghnDoV26NqKhCAS1hVo+WdNsPvE/yb6ilfr5hi2MEk6d5EWJTKdxg8jVw==", - "dev": true + "dev": true, + "peer": true }, "node_modules/@types/chai": { "version": "5.2.3", @@ -2813,7 +2824,6 @@ "integrity": "sha512-IgSWvLobTDOjnaxAfDTIHaECbkNlAlKv2j5SjpB2v7QHKv1FIfjwMy8FsDbVfDX/KjmCmYICcw7uGaXLhtsLNg==", "dev": true, "license": "MIT", - "peer": true, "dependencies": { "@typescript-eslint/scope-manager": "8.56.0", "@typescript-eslint/types": "8.56.0", @@ -3168,7 +3178,6 @@ "integrity": "sha512-qV6KJkq8W3piW6MDIbGOmn1xhvcW4DuA07alqaQ+vdx7YA49J85pnwnxigZVQFQw3tWnQNRKWwhz5wbP6iv/GQ==", "dev": true, "license": "MIT", - "peer": true, "dependencies": { "@vitest/pretty-format": "4.0.3", "tinyrainbow": "^3.0.3" @@ -3310,7 +3319,6 @@ "integrity": "sha512-NZyJarBfL7nWwIq+FDL6Zp/yHEhePMNnnJ0y3qfieCrmNvYct8uvtiV41UvlSe6apAfk0fY1FbWx+NwfmpvtTg==", "dev": true, "license": "MIT", - 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"peer": true, "bin": { "eslint-config-prettier": "bin/cli.js" }, @@ -5325,6 +5334,7 @@ "integrity": "sha512-sNXOfKCn74rt8RICKMvJS7XKV/Xk9kA7DyJr8mJik3S7Cwgy3qlkkmyS2uQB3jiJg6VNdZd/pDBJu0nvG2NlTg==", "dev": true, "license": "BSD-2-Clause", + "peer": true, "dependencies": { "esrecurse": "^4.3.0", "estraverse": "^5.2.0" @@ -5354,6 +5364,7 @@ "integrity": "sha512-Uhdk5sfqcee/9H/rCOJikYz67o0a2Tw2hGRPOG2Y1R2dg7brRe1uG0yaNQDHu+TO/uQPF/5eCapvYSmHUjt7JQ==", "dev": true, "license": "Apache-2.0", + "peer": true, "engines": { "node": "^18.18.0 || ^20.9.0 || >=21.1.0" }, @@ -5366,6 +5377,7 @@ "resolved": "https://registry.npmjs.org/minimatch/-/minimatch-3.1.2.tgz", "integrity": "sha512-J7p63hRiAjw1NDEww1W7i37+ByIrOWO5XQQAzZ3VOcL0PNybwpfmV/N05zFAzwQ9USyEcX6t3UO+K5aqBQOIHw==", "dev": true, + "peer": true, "dependencies": { "brace-expansion": "^1.1.7" }, @@ -5379,6 +5391,7 @@ "integrity": "sha512-j6PAQ2uUr79PZhBjP5C5fhl8e39FmRnOjsD5lGnWrFU8i2G776tBK7+nP8KuQUTTyAZUwfQqXAgrVH5MbH9CYQ==", "dev": true, "license": "BSD-2-Clause", + "peer": true, "dependencies": { "acorn": "^8.15.0", "acorn-jsx": "^5.3.2", @@ -5397,6 +5410,7 @@ "integrity": "sha512-Uhdk5sfqcee/9H/rCOJikYz67o0a2Tw2hGRPOG2Y1R2dg7brRe1uG0yaNQDHu+TO/uQPF/5eCapvYSmHUjt7JQ==", "dev": true, "license": "Apache-2.0", + "peer": true, "engines": { "node": "^18.18.0 || ^20.9.0 || >=21.1.0" }, @@ -6407,6 +6421,7 @@ "integrity": "sha512-TR3KfrTZTYLPB6jUjfx6MF9WcWrHL9su5TObK4ZkYgBdWKPOFoSoQIdEuTuR82pmtxH2spWG9h6etwfr1pLBqQ==", "dev": true, "license": "MIT", + "peer": true, "dependencies": { "parent-module": "^1.0.0", "resolve-from": "^4.0.0" @@ -7018,7 +7033,6 @@ "integrity": "sha512-ekilCSN1jwRvIbgeg/57YFh8qQDNbwDb9xT/qu2DAHbFFZUicIl4ygVaAvzveMhMVr3LnpSKTNnwt8PoOfmKhQ==", "dev": true, "license": "MIT", - "peer": true, "bin": { "jiti": "lib/jiti-cli.mjs" } @@ -7071,7 +7085,6 @@ "integrity": "sha512-0+MoQNYyr2rBHqO1xilltfDjV9G7ymYGlAUazgcDLQaUf8JDHbuGwsxN6U9qWaElZ4w1B2r7yEGIL3GdeW3Rug==", "dev": true, "license": "MIT", - "peer": true, "dependencies": { "@acemir/cssom": "^0.9.31", "@asamuzakjp/dom-selector": "^6.8.1", @@ -7553,7 +7566,8 @@ "version": "4.6.2", "resolved": "https://registry.npmjs.org/lodash.merge/-/lodash.merge-4.6.2.tgz", "integrity": "sha512-0KpjqXRVvrYyCsX1swR/XTK0va6VQkQM6MNo7PqW77ByjAhoARA8EfrP1N4+KlKj8YS0ZUCtRT/YUuhyYDujIQ==", - "dev": true + "dev": true, + "peer": true }, "node_modules/log-symbols": { "version": "3.0.0", @@ -7669,6 +7683,7 @@ "resolved": "https://registry.npmjs.org/loose-envify/-/loose-envify-1.4.0.tgz", "integrity": "sha512-lyuxPGr/Wfhrlem2CL/UcnUc1zcqKAImBDzukY7Y5F/yQiNdko6+fRLevlw1HgMySw7f611UIY408EtxRSoK3Q==", "dev": true, + "peer": true, "dependencies": { "js-tokens": "^3.0.0 || ^4.0.0" }, @@ -7700,6 +7715,7 @@ "resolved": "https://registry.npmjs.org/lz-string/-/lz-string-1.5.0.tgz", "integrity": "sha512-h5bgJWpxJNswbU7qCrV0tIKQCaS3blPDrqKWx+QxzuzL1zGUzij9XCWLrSLsJPu5t+eWA/ycetzYAO5IOMcWAQ==", "dev": true, + "peer": true, "bin": { "lz-string": "bin/bin.js" } @@ -9276,6 +9292,7 @@ "integrity": "sha512-GQ2EWRpQV8/o+Aw8YqtfZZPfNRWZYkbidE9k5rpl/hC3vtHHBfGm2Ifi6qWV+coDGkrUKZAxE3Lot5kcsRlh+g==", "dev": true, "license": "MIT", + "peer": true, "dependencies": { "callsites": "^3.0.0" }, @@ -10849,6 +10866,7 @@ "integrity": "sha512-pb/MYmXstAkysRFx8piNI1tGFNQIFA3vkE3Gq4EuA1dF6gHp/+vgZqsCGJapvy8N3Q+4o7FwvquPJcnZ7RYy4g==", "dev": true, "license": "MIT", + "peer": true, "engines": { "node": ">=4" } @@ -10873,7 +10891,6 @@ "integrity": "sha512-WMmLFI+Boh6xbop+OAGo9cQ3OgX9MIg7xOQjn+pTCwOkk+FNDAeAemXkJ3HzDJrVXleLOFVa1ipuc1AmEx1Dwg==", "dev": true, "license": "MIT", - "peer": true, "dependencies": { "@types/estree": "1.0.8" }, @@ -11015,6 +11032,7 @@ "resolved": "https://registry.npmjs.org/scheduler/-/scheduler-0.23.0.tgz", "integrity": "sha512-CtuThmgHNg7zIZWAXi3AsyIzA3n4xx7aNyjwC2VJldO2LMVDhFK+63xGqq6CsJH4rTAt6/M+N4GhZiDYPx9eUw==", "dev": true, + "peer": true, "dependencies": { "loose-envify": "^1.1.0" } @@ -12054,7 +12072,6 @@ "integrity": "sha512-CWBzXQrc/qOkhidw1OzBTQuYRbfyxDXJMVJ1XNwUHGROVmuaeiEm3OslpZ1RV96d7SKKjZKrSJu3+t/xlw3R9A==", "dev": true, "license": "Apache-2.0", - "peer": true, "bin": { "tsc": "bin/tsc", "tsserver": "bin/tsserver" @@ -12436,7 +12453,6 @@ "integrity": "sha512-dZwN5L1VlUBewiP6H9s2+B3e3Jg96D0vzN+Ry73sOefebhYr9f94wwkMNN/9ouoU8pV1BqA1d1zGk8928cx0rg==", "dev": true, "license": "MIT", - "peer": true, "dependencies": { "esbuild": "^0.27.0", "fdir": "^6.5.0", @@ -13295,7 +13311,6 @@ "integrity": "sha512-O0piBKY36YSJhlFSG8p9VUdPV/SxxS4FYDWVpr/9GJuMaepzwlf4J8I4ov1b+ySQfDTPhc3DtLaxcT1fN0yqCg==", "dev": true, "license": "MIT", - "peer": true, "dependencies": { "@eslint-community/eslint-utils": "^4.8.0", "@eslint-community/regexpp": "^4.12.2", diff --git a/packages/roslib/src/core/transport/WebSocketTransportFactory.ts b/packages/roslib/src/core/transport/WebSocketTransportFactory.ts index 9e5cd9adc..b2525ab78 100644 --- a/packages/roslib/src/core/transport/WebSocketTransportFactory.ts +++ b/packages/roslib/src/core/transport/WebSocketTransportFactory.ts @@ -16,11 +16,8 @@ function isJsdomEnvironment(): boolean { // Check for jsdom-specific window constructor name if (typeof window !== "undefined") { - const windowConstructorName = window.constructor.name; - if ( - windowConstructorName === "jsdom" || - windowConstructorName === "JSDOM" - ) { + const windowConstructorName = window.constructor.name.toLowerCase(); + if (windowConstructorName === "jsdom") { return true; } }