def test_make_python_safe():
from genpy.generator import make_python_safe
from genmsg.msgs import Constant
s = MsgSpec(['int32', 'int32', 'int32', 'int32', 'int32', 'int32'], ['ok', 'if', 'self', 'fine', 'self.x', 'self.while'],
[Constant('int32', 'if', '1', '1'), Constant('int32', 'okgo', '1', '1')],
'x', 'test_msgs/Foo')
s2 = make_python_safe(s)
assert s != s2
assert ['ok', 'if_', 'self_', 'fine', 'self.x', 'self.while_'] == s2.names, s2.names
assert s2.types == s.types
assert [Constant('int32', 'if_', '1', '1') == Constant('int32', 'okgo', '1', '1')], s2.constants
assert s2.text == s.text
def test_load_msg_from_string():
# make sure Header -> std_msgs/Header conversion works
from genmsg.msgs import Constant
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msgspec = load_msg_from_string(context, "Header header", 'test_pkg/HeaderTest')
print(msgspec)
assert msgspec.has_header()
assert msgspec.types == ['std_msgs/Header']
assert msgspec.names == ['header']
assert msgspec.constants == []
assert msgspec.short_name == 'HeaderTest'
assert msgspec.package == 'test_pkg'
assert msgspec.full_name == 'test_pkg/HeaderTest'
msgspec = load_msg_from_string(context, "int8 c=1\nHeader header\nint64 data", 'test_pkg/HeaderValsTest')
assert msgspec.has_header()
assert msgspec.types == ['std_msgs/Header', 'int64']
assert msgspec.names == ['header', 'data']
assert msgspec.constants == [Constant('int8', 'c', 1, '1')]
assert msgspec.short_name == 'HeaderValsTest'
assert msgspec.package == 'test_pkg'
assert msgspec.full_name == 'test_pkg/HeaderValsTest'
msgspec = load_msg_from_string(context, "string data\nint64 data2", 'test_pkg/ValsTest')
assert not msgspec.has_header()
assert msgspec.types == ['string', 'int64']
assert msgspec.names == ['data', 'data2']
assert msgspec.constants == []
assert msgspec.short_name == 'ValsTest'
assert msgspec.full_name == 'test_pkg/ValsTest'
def test__load_constant_line():
from genmsg.msgs import Constant, InvalidMsgSpec
from genmsg.msg_loader import _load_constant_line
try:
_load_constant_line("int8 field=alpha")
assert False, "should have raised"
except InvalidMsgSpec:
pass
try:
_load_constant_line("int8 field=")
assert False, "should have raised"
except InvalidMsgSpec:
pass
try:
_load_constant_line("faketype field=1")
assert False, "should have raised"
except InvalidMsgSpec:
pass
c = _load_constant_line("int8 field=1")
assert c == Constant('int8', 'field', 1, '1')
c = _load_constant_line("string val=hello #world")
assert c == Constant('string', 'val', 'hello #world', 'hello #world')
def test_MsgSpec():
def sub_test_MsgSpec(types, names, constants, text, full_name, has_header):
m = MsgSpec(types, names, constants, text, full_name)
assert m.types == types
assert m.names == names
assert m.text == text
assert has_header == m.has_header()
assert m.constants == constants
assert list(zip(types, names)) == m.fields()
assert m == MsgSpec(types, names, constants, text, full_name)
return m
from genmsg import MsgSpec, InvalidMsgSpec
from genmsg.msgs import Field
# don't allow duplicate fields
try:
MsgSpec(['int32', 'int64'], ['x', 'x'], [], 'int32 x\nint64 x',
'x/DupFields')
assert False, "should have raised"
except InvalidMsgSpec:
pass
# don't allow invalid fields
try:
MsgSpec(['string['], ['x'], [], 'int32 x\nint64 x', 'x/InvalidFields')
assert False, "should have raised"
except InvalidMsgSpec:
pass
# allow empty msg
empty = sub_test_MsgSpec([], [], [], '', 'x/Nothing', False)
assert [] == empty.fields()
assert [] == empty.parsed_fields()
assert 'x/Nothing' == empty.full_name
assert 'x' == empty.package
assert 'Nothing' == empty.short_name
# one-field
one_field = sub_test_MsgSpec(['int32'], ['x'], [], 'int32 x', 'x/OneInt',
False)
# make sure that equals tests every declared field
assert one_field == MsgSpec(['int32'], ['x'], [], 'int32 x', 'x/OneInt')
assert one_field != MsgSpec(['uint32'], ['x'], [], 'int32 x', 'x/OneInt')
assert one_field != MsgSpec(['int32'], ['y'], [], 'int32 x', 'x/OneInt')
assert one_field != MsgSpec(['int32'], ['x'], [], 'uint32 x', 'x/OneInt')
assert one_field != MsgSpec(['int32'], ['x'], [], 'int32 x', 'x/OneIntBad')
# test against __ne__ as well
assert one_field != MsgSpec(['int32'], ['x'], [], 'uint32 x', 'x/OneInt')
assert [
Field('x', 'int32')
] == one_field.parsed_fields(), "%s vs %s" % ([Field(
'x', 'int32')], one_field.parsed_fields())
#test str
assert "int32 x" == str(one_field).strip()
# test variations of multiple fields and headers
two_fields = sub_test_MsgSpec(['int32', 'string'], ['x', 'str'], [],
'int32 x\nstring str', 'x/TwoFields', False)
assert [Field('x', 'int32'),
Field('str', 'string')] == two_fields.parsed_fields()
one_header = sub_test_MsgSpec(['std_msgs/Header'], ['header'], [],
'Header header', 'x/OneHeader', True)
header_and_fields = sub_test_MsgSpec(
['std_msgs/Header', 'int32', 'string'], ['header', 'x', 'str'], [],
'Header header\nint32 x\nstring str', 'x/HeaderAndFields', True)
embed_types = sub_test_MsgSpec(
['std_msgs/Header', 'std_msgs/Int32', 'string'],
['header', 'x', 'str'], [],
'Header header\nstd_msgs/Int32 x\nstring str', 'x/EmbedTypes', True)
#test strify
assert "int32 x\nstring str" == str(two_fields).strip()
# types and names mismatch
try:
MsgSpec(['int32', 'int32'], ['intval'], [], 'int32 intval\nint32 y',
'x/Mismatch')
assert False, "types and names must align"
except:
pass
# test (not) equals against non msgspec
assert not (one_field == 1)
assert one_field != 1
# test constants
from genmsg.msgs import Constant
msgspec = MsgSpec(['int32'], ['x'], [Constant('int8', 'c', 1, '1')],
'int8 c=1\nuint32 x', 'x/Constants')
assert msgspec.constants == [Constant('int8', 'c', 1, '1')]
# tripwire
str(msgspec)
repr(msgspec)
# test that repr doesn't throw an error
[repr(x) for x in [empty, one_field, one_header, two_fields, embed_types]]