def test_load_depends_srv():
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_depends, MsgNotFound, load_srv_by_type
test_d = get_test_dir()
geometry_d = os.path.join(test_d, "geometry_msgs", "msg")
msg_search_path = {
"test_ros": [os.path.join(test_d, "test_ros", "msg")],
"std_msgs": [os.path.join(test_d, "std_msgs", "msg")],
"geometry_msgs": [geometry_d],
"sensor_msgs": [os.path.join(test_d, "sensor_msgs", "msg")],
"invalid": [os.path.join(test_d, "invalid", "msg")],
}
# Test with srvs
srv_search_path = {
"test_ros": [os.path.join(test_d, "test_ros", "srv")],
"std_srvs": [os.path.join(test_d, "std_srvs", "srv")],
}
msg_context = MsgContext.create_default()
root_spec = load_srv_by_type(msg_context, "test_ros/AddTwoInts", srv_search_path)
load_depends(msg_context, root_spec, msg_search_path)
val = msg_context.get_depends("test_ros/AddTwoIntsRequest")
assert val == [], val
val = msg_context.get_depends("test_ros/AddTwoIntsResponse")
assert val == [], val
# test with srv that has depends
msg_context = MsgContext.create_default()
response_deps = [
"std_msgs/Header",
"geometry_msgs/Pose",
"geometry_msgs/PoseStamped",
"geometry_msgs/Point",
"geometry_msgs/Quaternion",
]
root_spec = load_srv_by_type(msg_context, "test_ros/GetPoseStamped", srv_search_path)
load_depends(msg_context, root_spec, msg_search_path)
for d in response_deps:
assert msg_context.is_registered(d)
val = msg_context.get_depends("test_ros/GetPoseStampedRequest")
assert val == [], val
val = msg_context.get_depends("test_ros/GetPoseStampedResponse")
assert val == ["geometry_msgs/PoseStamped"]
# Test with nonsense
class Foo(object):
pass
try:
load_depends(msg_context, Foo(), msg_search_path)
assert False, "should have raised"
except ValueError:
pass
def test_load_depends_srv():
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_depends, MsgNotFound, load_srv_by_type
test_d = get_test_dir()
geometry_d = os.path.join(test_d, 'geometry_msgs', 'msg')
msg_search_path = {
'test_ros': [os.path.join(test_d, 'test_ros', 'msg')],
'std_msgs': [os.path.join(test_d, 'std_msgs', 'msg')],
'geometry_msgs': [geometry_d],
'sensor_msgs': [os.path.join(test_d, 'sensor_msgs', 'msg')],
'invalid': [os.path.join(test_d, 'invalid', 'msg')],
}
# Test with srvs
srv_search_path = {
'test_ros': [os.path.join(test_d, 'test_ros', 'srv')],
'std_srvs': [os.path.join(test_d, 'std_srvs', 'srv')],
}
msg_context = MsgContext.create_default()
root_spec = load_srv_by_type(msg_context, 'test_ros/AddTwoInts',
srv_search_path)
load_depends(msg_context, root_spec, msg_search_path)
val = msg_context.get_depends('test_ros/AddTwoIntsRequest')
assert val == [], val
val = msg_context.get_depends('test_ros/AddTwoIntsResponse')
assert val == [], val
# test with srv that has depends
msg_context = MsgContext.create_default()
response_deps = [
'std_msgs/Header', 'geometry_msgs/Pose', 'geometry_msgs/PoseStamped',
'geometry_msgs/Point', 'geometry_msgs/Quaternion'
]
root_spec = load_srv_by_type(msg_context, 'test_ros/GetPoseStamped',
srv_search_path)
load_depends(msg_context, root_spec, msg_search_path)
for d in response_deps:
assert msg_context.is_registered(d)
val = msg_context.get_depends('test_ros/GetPoseStampedRequest')
assert val == [], val
val = msg_context.get_depends('test_ros/GetPoseStampedResponse')
assert val == ['geometry_msgs/PoseStamped']
# Test with nonsense
class Foo(object):
pass
try:
load_depends(msg_context, Foo(), msg_search_path)
assert False, "should have raised"
except ValueError:
pass
def test_load_depends_srv():
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_depends, MsgNotFound, load_srv_by_type
test_d = get_test_dir()
geometry_d = os.path.join(test_d, 'geometry_msgs', 'msg')
msg_search_path = {
'test_ros': [ os.path.join(test_d, 'test_ros', 'msg') ],
'std_msgs': [ os.path.join(test_d, 'std_msgs', 'msg') ],
'geometry_msgs': [ geometry_d ],
'sensor_msgs': [ os.path.join(test_d, 'sensor_msgs', 'msg') ],
'invalid': [ os.path.join(test_d, 'invalid', 'msg') ],
}
# Test with srvs
srv_search_path = {
'test_ros': [ os.path.join(test_d, 'test_ros', 'srv') ],
'std_srvs': [ os.path.join(test_d, 'std_srvs', 'srv') ],
}
msg_context = MsgContext.create_default()
root_spec = load_srv_by_type(msg_context, 'test_ros/AddTwoInts', srv_search_path)
load_depends(msg_context, root_spec, msg_search_path)
val = msg_context.get_depends('test_ros/AddTwoIntsRequest')
assert val == [], val
val = msg_context.get_depends('test_ros/AddTwoIntsResponse')
assert val == [], val
# test with srv that has depends
msg_context = MsgContext.create_default()
response_deps = ['std_msgs/Header', 'geometry_msgs/Pose', 'geometry_msgs/PoseStamped', 'geometry_msgs/Point', 'geometry_msgs/Quaternion']
root_spec = load_srv_by_type(msg_context, 'test_ros/GetPoseStamped', srv_search_path)
load_depends(msg_context, root_spec, msg_search_path)
for d in response_deps:
assert msg_context.is_registered(d)
val = msg_context.get_depends('test_ros/GetPoseStampedRequest')
assert val == [], val
val = msg_context.get_depends('test_ros/GetPoseStampedResponse')
assert val == ['geometry_msgs/PoseStamped']
# Test with nonsense
class Foo(object): pass
try:
load_depends(msg_context, Foo(), msg_search_path)
assert False, "should have raised"
except ValueError:
pass
def test_load_srv_by_type():
from genmsg.msg_loader import load_srv_by_type, MsgContext, MsgNotFound
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'srv')
std_srvs_dir = os.path.join(test_d, 'std_srvs', 'srv')
empty_path = os.path.join(std_srvs_dir, 'Empty.srv')
a2i_path = os.path.join(std_srvs_dir, 'AddTwoInts.srv')
search_path = {
'test_ros': [ test_ros_dir ],
'std_srvs': [ std_srvs_dir ],
}
msg_context = MsgContext.create_default()
spec = load_srv_by_type(msg_context, 'std_srvs/Empty', search_path)
assert msg_context.is_registered('std_srvs/EmptyRequest')
assert msg_context.is_registered('std_srvs/EmptyResponse')
assert msg_context.get_registered('std_srvs/EmptyRequest') == spec.request
assert msg_context.get_registered('std_srvs/EmptyResponse') == spec.response
assert msg_context.get_file('std_srvs/EmptyRequest') == empty_path, msg_context.get_file('std_srvs/EmptyRequest')
assert msg_context.get_file('std_srvs/EmptyResponse') == empty_path,msg_context.get_file('std_srvs/EmptyResponse')
assert spec.request.full_name == 'std_srvs/EmptyRequest'
assert spec.response.full_name == 'std_srvs/EmptyResponse'
assert spec.request.short_name == 'EmptyRequest'
assert spec.response.short_name == 'EmptyResponse'
assert spec.request.package == 'std_srvs'
assert spec.response.package == 'std_srvs'
for f in [spec.request.names, spec.request.types, spec.response.names, spec.response.types]:
assert [] == f
spec = load_srv_by_type(msg_context, 'test_ros/AddTwoInts', search_path)
assert msg_context.is_registered('test_ros/AddTwoIntsRequest')
assert msg_context.is_registered('test_ros/AddTwoIntsResponse')
assert msg_context.get_registered('test_ros/AddTwoIntsRequest') == spec.request
assert msg_context.get_registered('test_ros/AddTwoIntsResponse') == spec.response
assert spec.request.types == ['int64', 'int64'], spec.request.types
assert spec.request.names == ['a', 'b'], spec.request.names
assert spec.response.types == ['int64'], spec.response.types
assert spec.response.names == ['sum'], spec.response.names
# test invalid search path
try:
load_srv_by_type(msg_context, 'test_ros/AddTwoInts', [std_srvs_dir])
assert False, "should have raised"
except ValueError:
pass
# test not found
try:
load_srv_by_type(msg_context, 'test_ros/Fake', search_path)
assert False, "should have raised"
except MsgNotFound:
pass
def test_load_srv_by_type():
from genmsg.msg_loader import load_srv_by_type, MsgContext, MsgNotFound
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'srv')
std_srvs_dir = os.path.join(test_d, 'std_srvs', 'srv')
empty_path = os.path.join(std_srvs_dir, 'Empty.srv')
a2i_path = os.path.join(std_srvs_dir, 'AddTwoInts.srv')
search_path = {
'test_ros': [ test_ros_dir ],
'std_srvs': [ std_srvs_dir ],
}
msg_context = MsgContext.create_default()
spec = load_srv_by_type(msg_context, 'std_srvs/Empty', search_path)
assert msg_context.is_registered('std_srvs/EmptyRequest')
assert msg_context.is_registered('std_srvs/EmptyResponse')
assert msg_context.get_registered('std_srvs/EmptyRequest') == spec.request
assert msg_context.get_registered('std_srvs/EmptyResponse') == spec.response
assert msg_context.get_file('std_srvs/EmptyRequest') == empty_path, msg_context.get_file('std_srvs/EmptyRequest')
assert msg_context.get_file('std_srvs/EmptyResponse') == empty_path,msg_context.get_file('std_srvs/EmptyResponse')
assert spec.request.full_name == 'std_srvs/EmptyRequest'
assert spec.response.full_name == 'std_srvs/EmptyResponse'
assert spec.request.short_name == 'EmptyRequest'
assert spec.response.short_name == 'EmptyResponse'
assert spec.request.package == 'std_srvs'
assert spec.response.package == 'std_srvs'
for f in [spec.request.names, spec.request.types, spec.response.names, spec.response.types]:
assert [] == f
spec = load_srv_by_type(msg_context, 'test_ros/AddTwoInts', search_path)
assert msg_context.is_registered('test_ros/AddTwoIntsRequest')
assert msg_context.is_registered('test_ros/AddTwoIntsResponse')
assert msg_context.get_registered('test_ros/AddTwoIntsRequest') == spec.request
assert msg_context.get_registered('test_ros/AddTwoIntsResponse') == spec.response
assert spec.request.types == ['int64', 'int64'], spec.request.types
assert spec.request.names == ['a', 'b'], spec.request.names
assert spec.response.types == ['int64'], spec.response.types
assert spec.response.names == ['sum'], spec.response.names
# test invalid search path
try:
load_srv_by_type(msg_context, 'test_ros/AddTwoInts', [std_srvs_dir])
assert False, "should have raised"
except ValueError:
pass
# test not found
try:
load_srv_by_type(msg_context, 'test_ros/Fake', search_path)
assert False, "should have raised"
except MsgNotFound:
pass
def test_load_srv_by_type():
from genmsg.msg_loader import load_srv_by_type, MsgContext, MsgNotFound
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, "test_ros", "srv")
std_srvs_dir = os.path.join(test_d, "std_srvs", "srv")
empty_path = os.path.join(std_srvs_dir, "Empty.srv")
a2i_path = os.path.join(std_srvs_dir, "AddTwoInts.srv")
search_path = {"test_ros": [test_ros_dir], "std_srvs": [std_srvs_dir]}
msg_context = MsgContext.create_default()
spec = load_srv_by_type(msg_context, "std_srvs/Empty", search_path)
assert msg_context.is_registered("std_srvs/EmptyRequest")
assert msg_context.is_registered("std_srvs/EmptyResponse")
assert msg_context.get_registered("std_srvs/EmptyRequest") == spec.request
assert msg_context.get_registered("std_srvs/EmptyResponse") == spec.response
assert msg_context.get_file("std_srvs/EmptyRequest") == empty_path, msg_context.get_file("std_srvs/EmptyRequest")
assert msg_context.get_file("std_srvs/EmptyResponse") == empty_path, msg_context.get_file("std_srvs/EmptyResponse")
assert spec.request.full_name == "std_srvs/EmptyRequest"
assert spec.response.full_name == "std_srvs/EmptyResponse"
assert spec.request.short_name == "EmptyRequest"
assert spec.response.short_name == "EmptyResponse"
assert spec.request.package == "std_srvs"
assert spec.response.package == "std_srvs"
for f in [spec.request.names, spec.request.types, spec.response.names, spec.response.types]:
assert [] == f
spec = load_srv_by_type(msg_context, "test_ros/AddTwoInts", search_path)
assert msg_context.is_registered("test_ros/AddTwoIntsRequest")
assert msg_context.is_registered("test_ros/AddTwoIntsResponse")
assert msg_context.get_registered("test_ros/AddTwoIntsRequest") == spec.request
assert msg_context.get_registered("test_ros/AddTwoIntsResponse") == spec.response
assert spec.request.types == ["int64", "int64"], spec.request.types
assert spec.request.names == ["a", "b"], spec.request.names
assert spec.response.types == ["int64"], spec.response.types
assert spec.response.names == ["sum"], spec.response.names
# test invalid search path
try:
load_srv_by_type(msg_context, "test_ros/AddTwoInts", [std_srvs_dir])
assert False, "should have raised"
except ValueError:
pass
# test not found
try:
load_srv_by_type(msg_context, "test_ros/Fake", search_path)
assert False, "should have raised"
except MsgNotFound:
pass
