v01
This commit is contained in:
Ivan
439
thirdparty/ros/ros_comm/test/test_rostopic/test/test_rostopic_unit.py
vendored
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439
thirdparty/ros/ros_comm/test/test_rostopic/test/test_rostopic_unit.py
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#!/usr/bin/env python
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2009, Willow Garage, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above
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# copyright notice, this list of conditions and the following
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# disclaimer in the documentation and/or other materials provided
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# with the distribution.
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# * Neither the name of Willow Garage, Inc. nor the names of its
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# contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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import unittest
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import yaml
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class TestRostopicUnit(unittest.TestCase):
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def test_sub_str_plot_fields(self):
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from rostopic import _str_plot_fields
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from std_msgs.msg import String
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from test_rostopic.msg import Arrays, Embed, Simple, TVals
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from genpy import Time, Duration
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from rostopic import create_field_filter
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# str plotting requires rospy time, we fix time to a set time
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import rospy.rostime
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rospy.rostime.set_rostime_initialized(True)
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rospy.rostime._set_rostime(Time(0, 1234))
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Time(0, 5678)
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# prepare test values
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simple_v = Simple(1, -2, 3, -4, 'a', 7, 8, 9, 'bar')
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simple_d = 'time,field.b,field.int16,field.int32,field.int64,field.c,field.uint16,field.uint32,field.uint64,field.str'
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simple_nostr = 'time,field.b,field.int16,field.int32,field.int64,field.c,field.uint16,field.uint32,field.uint64'
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arrays_v = Arrays([-1], chr(2)+chr(3), [3, 4, 5], [6, 7, 8], ['a1', 'b2', 'b3'], [Time(123, 456), Time(78, 90)])
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arrays_d = 'time,field.int8_arr0,field.uint8_arr0,field.uint8_arr1,field.int32_arr0,field.int32_arr1,field.int32_arr2,field.uint32_arr0,field.uint32_arr1,field.uint32_arr2,field.string_arr0,field.string_arr1,field.string_arr2,field.time_arr0,field.time_arr1'
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arrays_nostr = 'time,field.int8_arr0,field.uint8_arr0,field.uint8_arr1,field.int32_arr0,field.int32_arr1,field.int32_arr2,field.uint32_arr0,field.uint32_arr1,field.uint32_arr2,field.time_arr0,field.time_arr1'
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embed_v = Embed(simple_v, arrays_v)
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embed_d = simple_d.replace('field.', 'field.simple.')+','+arrays_d.replace('field.', 'field.arrays.')[5:]
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embed_nostr = simple_nostr.replace('field.', 'field.simple.')+','+arrays_nostr.replace('field.', 'field.arrays.')[5:]
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embed_noarr = simple_d.replace('field.', 'field.simple.')
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embed_nostr_noarr = simple_nostr.replace('field.', 'field.simple.')
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# test over all combinations of field filters
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f = create_field_filter(echo_nostr=False, echo_noarr=False)
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m = String()
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self.assertEquals("time,field.data", _str_plot_fields(m, 'field', f))
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m = String('foo')
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self.assertEquals('time,field.data', _str_plot_fields(m, 'field', f))
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m = TVals(Time(123, 456), Duration(78, 90))
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v = _str_plot_fields(m, 'field', f)
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self.assertEquals('time,field.t,field.d', v)
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m = simple_v
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self.assertEquals(simple_d, _str_plot_fields(m, 'field', f))
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m = arrays_v
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self.assertEquals(arrays_d, _str_plot_fields(m, 'field', f))
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m = embed_v
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self.assertEquals(embed_d, _str_plot_fields(m, 'field', f))
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f = create_field_filter(echo_nostr=True, echo_noarr=False)
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m = String()
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self.assertEquals("time,", _str_plot_fields(m, 'field', f))
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m = String('foo')
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self.assertEquals('time,', _str_plot_fields(m, 'field', f))
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m = TVals(Time(123, 456), Duration(78, 90))
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v = _str_plot_fields(m, 'field', f)
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self.assertEquals('time,field.t,field.d', v)
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m = simple_v
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self.assertEquals(simple_nostr, _str_plot_fields(m, 'field', f))
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m = arrays_v
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self.assertEquals(arrays_nostr, _str_plot_fields(m, 'field', f))
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m = embed_v
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self.assertEquals(embed_nostr, _str_plot_fields(m, 'field', f))
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f = create_field_filter(echo_nostr=False, echo_noarr=True)
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m = String()
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self.assertEquals("time,field.data", _str_plot_fields(m, 'field', f))
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m = String('foo')
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self.assertEquals("time,field.data", _str_plot_fields(m, 'field', f))
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m = TVals(Time(123, 456), Duration(78, 90))
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v = _str_plot_fields(m, 'field', f)
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self.assertEquals('time,field.t,field.d', v)
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m = simple_v
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self.assertEquals(simple_d, _str_plot_fields(m, 'field', f))
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m = arrays_v
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self.assertEquals('time,', _str_plot_fields(m, 'field', f))
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m = embed_v
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self.assertEquals(embed_noarr, _str_plot_fields(m, 'field', f))
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f = create_field_filter(echo_nostr=True, echo_noarr=True)
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m = String()
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self.assertEquals("time,", _str_plot_fields(m, 'field', f))
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m = String('foo')
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self.assertEquals('time,', _str_plot_fields(m, 'field', f))
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m = TVals(Time(123, 456), Duration(78, 90))
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v = _str_plot_fields(m, 'field', f)
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self.assertEquals('time,field.t,field.d', v)
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m = simple_v
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self.assertEquals(simple_nostr, _str_plot_fields(m, 'field', f))
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m = arrays_v
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self.assertEquals('time,', _str_plot_fields(m, 'field', f))
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m = embed_v
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self.assertEquals(embed_nostr_noarr, _str_plot_fields(m, 'field', f))
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def test_str_plot(self):
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from rostopic import _str_plot
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from std_msgs.msg import String
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from test_rostopic.msg import Arrays, Embed, Simple, TVals
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from genpy import Time, Duration
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from rostopic import create_field_filter
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# str plotting requires rospy time, we fix time to a set time
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import rospy.rostime
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rospy.rostime.set_rostime_initialized(True)
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rospy.rostime._set_rostime(Time(0, 1234))
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r_time = Time(0, 5678)
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# prepare test values
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simple_v = Simple(1, -2, 3, -4, 'a', 7, 8, 9, 'bar')
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simple_d = '1234,1,-2,3,-4,a,7,8,9,bar'
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simple_nostr = '1234,1,-2,3,-4,a,7,8,9'
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arrays_v = Arrays([-1], chr(2)+chr(3), [3, 4, 5], [6, 7, 8], ['a1', 'b2', 'b3'], [Time(123, 456), Time(78, 90)])
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arrays_d = '1234,-1,2,3,3,4,5,6,7,8,a1,b2,b3,123000000456,78000000090'
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arrays_nostr = '1234,-1,2,3,3,4,5,6,7,8,123000000456,78000000090'
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embed_v = Embed(simple_v, arrays_v)
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embed_d = simple_d+','+arrays_d[5:]
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# test current_time override
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m = String('foo')
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self.assertEquals('5678,foo', _str_plot(m, current_time=r_time, field_filter=None))
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# test over all combinations of field filters
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f = create_field_filter(echo_nostr=False, echo_noarr=False)
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m = String()
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self.assertEquals("1234,", _str_plot(m, field_filter=f))
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m = String('foo')
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self.assertEquals('1234,foo', _str_plot(m, field_filter=f))
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m = TVals(Time(123, 456), Duration(78, 90))
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v = _str_plot(m, field_filter=f)
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self.assertEquals('1234,123000000456,78000000090', v)
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m = simple_v
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self.assertEquals(simple_d, _str_plot(m, field_filter=f))
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m = arrays_v
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self.assertEquals(arrays_d, _str_plot(m, field_filter=f))
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m = embed_v
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self.assertEquals(embed_d, _str_plot(m, field_filter=f))
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f = create_field_filter(echo_nostr=True, echo_noarr=False)
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m = String()
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self.assertEquals("1234,", _str_plot(m, field_filter=f))
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m = String('foo')
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self.assertEquals('1234,', _str_plot(m, field_filter=f))
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m = TVals(Time(123, 456), Duration(78, 90))
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v = _str_plot(m, field_filter=f)
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self.assertEquals('1234,123000000456,78000000090', v)
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m = simple_v
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self.assertEquals(simple_nostr, _str_plot(m, field_filter=f))
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m = arrays_v
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self.assertEquals(arrays_nostr, _str_plot(m, field_filter=f))
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m = embed_v
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self.assertEquals(simple_nostr+arrays_nostr[4:], _str_plot(m, field_filter=f))
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f = create_field_filter(echo_nostr=False, echo_noarr=True)
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m = String()
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self.assertEquals("1234,", _str_plot(m, field_filter=f))
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m = String('foo')
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self.assertEquals('1234,foo', _str_plot(m, field_filter=f))
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m = TVals(Time(123, 456), Duration(78, 90))
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v = _str_plot(m, field_filter=f)
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self.assertEquals('1234,123000000456,78000000090', v)
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m = simple_v
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self.assertEquals(simple_d, _str_plot(m, field_filter=f))
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m = arrays_v
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self.assertEquals('1234,', _str_plot(m, field_filter=f))
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m = embed_v
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self.assertEquals(simple_d, _str_plot(m, field_filter=f))
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f = create_field_filter(echo_nostr=True, echo_noarr=True)
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m = String()
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self.assertEquals("1234,", _str_plot(m, field_filter=f))
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m = String('foo')
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self.assertEquals('1234,', _str_plot(m, field_filter=f))
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m = TVals(Time(123, 456), Duration(78, 90))
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v = _str_plot(m, field_filter=f)
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self.assertEquals('1234,123000000456,78000000090', v)
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m = simple_v
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self.assertEquals(simple_nostr, _str_plot(m, field_filter=f))
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m = arrays_v
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self.assertEquals('1234,', _str_plot(m, field_filter=f))
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m = embed_v
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self.assertEquals(simple_nostr, _str_plot(m, field_filter=f))
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def test_strify_message(self):
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# strify message is part of roslib, but we want to test with
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# rostopic's field filters. It's also the case that
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# roslib.messages cannot be unit tested within the ROS stack
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# -- part of the reason it needs to be moved elsewhere.
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from std_msgs.msg import String
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from test_rostopic.msg import Arrays, Embed, Simple, TVals
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from genpy import Time, Duration
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from roslib.message import strify_message
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from rostopic import create_field_filter
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simple_v = Simple(1, -2, 3, -4, 'a', 7, 8, 9, 'bar')
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simple_d = {'b': 1, 'int16': -2, 'int32': 3, 'int64': -4, 'c': 'a', 'uint16': 7, 'uint32': 8, 'uint64': 9, 'str': 'bar'}
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simple_nostr = simple_d.copy()
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del simple_nostr['str']
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arrays_v = Arrays([-1], chr(2)+chr(3), [3, 4, 5], [6, 7, 8], ['a1', 'b2', 'b3'], [Time(123, 456), Time(78, 90)])
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arrays_d = {'int8_arr': [-1], 'uint8_arr': [2, 3], 'int32_arr': [3, 4, 5], 'uint32_arr': [6, 7, 8], 'string_arr': ['a1', 'b2', 'b3'], 'time_arr': [{'secs': 123, 'nsecs': 456}, {'secs': 78, 'nsecs': 90}]}
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arrays_nostr = arrays_d.copy()
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del arrays_nostr['string_arr']
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embed_v = Embed(simple_v, arrays_v)
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embed_d = {'simple': simple_d, 'arrays': arrays_d}
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f = create_field_filter(echo_nostr=False, echo_noarr=False)
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m = String()
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self.assertEquals("data: ''", strify_message(m, field_filter=f))
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m = String('foo')
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self.assertEquals('data: "foo"', strify_message(m, field_filter=f))
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m = TVals(Time(123, 456), Duration(78, 90))
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals({'t': {'secs': 123, 'nsecs': 456}, 'd': {'secs': 78, 'nsecs': 90}}, v)
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m = simple_v
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals(simple_d, v)
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m = arrays_v
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals(arrays_d, v)
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m = embed_v
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals(embed_d, v)
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f = create_field_filter(echo_nostr=True, echo_noarr=False)
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m = String()
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self.assertEquals('', strify_message(m, field_filter=f))
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m = String('foo')
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self.assertEquals('', strify_message(m, field_filter=f))
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m = TVals(Time(123, 456), Duration(78, 90))
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals({'t': {'secs': 123, 'nsecs': 456}, 'd': {'secs': 78, 'nsecs': 90}}, v)
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m = simple_v
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals(simple_nostr, v)
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m = arrays_v
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals(arrays_nostr, v)
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m = embed_v
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals({'simple': simple_nostr, 'arrays': arrays_nostr}, v)
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f = create_field_filter(echo_nostr=False, echo_noarr=True)
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m = String()
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self.assertEquals("data: ''", strify_message(m, field_filter=f))
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m = String('foo')
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self.assertEquals('data: "foo"', strify_message(m, field_filter=f))
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m = TVals(Time(123, 456), Duration(78, 90))
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals({'t': {'secs': 123, 'nsecs': 456}, 'd': {'secs': 78, 'nsecs': 90}}, v)
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m = simple_v
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals(simple_d, v)
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m = arrays_v
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals(None, v)
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m = embed_v
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals({'simple': simple_d, 'arrays': None}, v)
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f = create_field_filter(echo_nostr=True, echo_noarr=True)
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m = String()
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self.assertEquals('', strify_message(m, field_filter=f))
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m = String('foo')
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self.assertEquals('', strify_message(m, field_filter=f))
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m = TVals(Time(123, 456), Duration(78, 90))
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals({'t': {'secs': 123, 'nsecs': 456}, 'd': {'secs': 78, 'nsecs': 90}}, v)
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m = simple_v
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals(simple_nostr, v)
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m = embed_v
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v = yaml.load(strify_message(m, field_filter=f))
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self.assertEquals({'simple': simple_nostr, 'arrays': None}, v)
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def test_create_field_filter(self):
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from std_msgs.msg import Header, Int32, String
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from test_rostopic.msg import Arrays, Embed, Floats, Simple, TVals
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from rostopic import create_field_filter
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f = create_field_filter(echo_nostr=False, echo_noarr=False)
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m = String()
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self.assertEquals(['data'], list(f(m)))
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m = Int32()
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self.assertEquals(['data'], list(f(m)))
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m = Arrays()
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self.assertEquals(['int8_arr', 'uint8_arr', 'int32_arr', 'uint32_arr', 'string_arr', 'time_arr'], list(f(m)))
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m = Embed()
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self.assertEquals(['simple', 'arrays'], list(f(m)))
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m = Simple()
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self.assertEquals(['b', 'int16', 'int32', 'int64', 'c', 'uint16', 'uint32', 'uint64', 'str'], list(f(m)))
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m = Floats()
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self.assertEquals(['float32', 'float64'], list(f(m)))
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m = TVals()
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self.assertEquals(['t', 'd'], list(f(m)))
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m = Header()
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self.assertEquals(['seq', 'stamp', 'frame_id'], list(f(m)))
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f = create_field_filter(echo_nostr=True, echo_noarr=False)
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m = String()
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self.assertEquals([], list(f(m)))
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m = Int32()
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self.assertEquals(['data'], list(f(m)))
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m = Arrays()
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self.assertEquals(['int8_arr', 'uint8_arr', 'int32_arr', 'uint32_arr', 'time_arr'], list(f(m)))
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m = Embed()
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self.assertEquals(['simple', 'arrays'], list(f(m)))
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m = Simple()
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self.assertEquals(['b', 'int16', 'int32', 'int64', 'c', 'uint16', 'uint32', 'uint64'], list(f(m)))
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m = Floats()
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self.assertEquals(['float32', 'float64'], list(f(m)))
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m = TVals()
|
||||
self.assertEquals(['t', 'd'], list(f(m)))
|
||||
m = Header()
|
||||
self.assertEquals(['seq', 'stamp'], list(f(m)))
|
||||
|
||||
f = create_field_filter(echo_nostr=False, echo_noarr=True)
|
||||
m = String()
|
||||
self.assertEquals(['data'], list(f(m)))
|
||||
m = Int32()
|
||||
self.assertEquals(['data'], list(f(m)))
|
||||
m = Arrays()
|
||||
self.assertEquals([], list(f(m)))
|
||||
m = Embed()
|
||||
self.assertEquals(['simple', 'arrays'], list(f(m)))
|
||||
m = Simple()
|
||||
self.assertEquals(['b', 'int16', 'int32', 'int64', 'c', 'uint16', 'uint32', 'uint64', 'str'], list(f(m)))
|
||||
m = Floats()
|
||||
self.assertEquals(['float32', 'float64'], list(f(m)))
|
||||
m = TVals()
|
||||
self.assertEquals(['t', 'd'], list(f(m)))
|
||||
m = Header()
|
||||
self.assertEquals(['seq', 'stamp', 'frame_id'], list(f(m)))
|
||||
|
||||
f = create_field_filter(echo_nostr=True, echo_noarr=True)
|
||||
m = String()
|
||||
self.assertEquals([], list(f(m)))
|
||||
m = Int32()
|
||||
self.assertEquals(['data'], list(f(m)))
|
||||
m = Arrays()
|
||||
self.assertEquals([], list(f(m)))
|
||||
m = Embed()
|
||||
self.assertEquals(['simple', 'arrays'], list(f(m)))
|
||||
m = Simple()
|
||||
self.assertEquals(['b', 'int16', 'int32', 'int64', 'c', 'uint16', 'uint32', 'uint64'], list(f(m)))
|
||||
m = Floats()
|
||||
self.assertEquals(['float32', 'float64'], list(f(m)))
|
||||
m = TVals()
|
||||
self.assertEquals(['t', 'd'], list(f(m)))
|
||||
m = Header()
|
||||
self.assertEquals(['seq', 'stamp'], list(f(m)))
|
||||
|
||||
def test_slicing(self):
|
||||
from test_rostopic.msg import ArrayVal, Val
|
||||
from rostopic import msgevalgen as f
|
||||
|
||||
# prepare a sliceable msg
|
||||
msg = ArrayVal()
|
||||
for v in ['ABCDEFG', 'abcdefg', '1234567', 'short']:
|
||||
msg.vals.append(Val(val=v))
|
||||
|
||||
self.assertEqual(f(''), None)
|
||||
self.assertEqual(f('/'), None)
|
||||
self.assertListEqual(f('/vals')(msg), msg.vals)
|
||||
self.assertListEqual(f('/vals/')(msg), msg.vals)
|
||||
# first-level slicing
|
||||
self.assertListEqual(f('/vals[:]')(msg), msg.vals)
|
||||
self.assertListEqual(f('/vals[0:2]')(msg), msg.vals[0:2])
|
||||
# element access
|
||||
self.assertEqual(f('/vals[0]')(msg), msg.vals[0])
|
||||
self.assertEqual(f('/vals[1]')(msg), msg.vals[1])
|
||||
self.assertEqual(f('/vals['), None)
|
||||
self.assertEqual(f('/vals[]'), None)
|
||||
self.assertEqual(f('/vals[0'), None)
|
||||
# element access continued
|
||||
self.assertEqual(f('/vals[0]/val')(msg), msg.vals[0].val)
|
||||
self.assertEqual(f('/vals[1]/val')(msg), msg.vals[1].val)
|
||||
self.assertEqual(f('/vals[/val'), None)
|
||||
self.assertEqual(f('/vals[]/val'), None)
|
||||
self.assertEqual(f('/vals[0/val'), None)
|
||||
# second-level slicing
|
||||
self.assertEqual(f('/vals[0]/val[:]')(msg), msg.vals[0].val)
|
||||
self.assertEqual(f('/vals[0]/val[0:2]')(msg), msg.vals[0].val[0:2])
|
||||
self.assertEqual(f('/vals[0]/val[:-3]')(msg), msg.vals[0].val[:-3])
|
||||
self.assertEqual(f('/vals[0]/val[2]')(msg), msg.vals[0].val[2])
|
||||
# first-level slicing + second-level access
|
||||
self.assertListEqual(f('/vals[:3]/val[0]')(msg), ['A', 'a', '1'])
|
||||
self.assertListEqual(f('/vals[:3]/val[0]')(msg), ['A', 'a', '1'])
|
||||
self.assertListEqual(f('/vals[1:3]/val[0]')(msg), ['a', '1'])
|
||||
self.assertListEqual(f('/vals[:]/val[-1]')(msg), ['G', 'g', '7', 't'])
|
||||
# multiple slicing
|
||||
self.assertListEqual(f('/vals[:3]/val[1:3]')(msg), ['BC', 'bc', '23'])
|
||||
# out-of-range errors
|
||||
self.assertEqual(f('/vals[5]/val')(msg), None)
|
||||
self.assertListEqual(f('/vals[:]/val[6]')(msg), ['G', 'g', '7', None])
|
||||
# invalid descriptions
|
||||
self.assertEqual(f('/vals[:]/val[]'), None)
|
||||
self.assertEqual(f('/unknown[:]/val[0]')(msg), None)
|
||||
self.assertListEqual(f('/vals[:]/unknown[0]')(msg), [None, None, None, None])
|
||||
self.assertEqual(f('/vals/unknown[0]')(msg), None)
|
||||
Reference in New Issue
Block a user