def test_get_compression_info(self):
fn = '/tmp/test_get_compression_info.bag'
# No Compression
with rosbag.Bag(fn, mode='w') as bag:
for i in xrange(100):
bag.write("/test_bag", Int32(data=i))
with rosbag.Bag(fn) as bag:
info = bag.get_compression_info()
self.assertEquals(info.compression, rosbag.Compression.NONE)
# 167 Bytes of overhead, 50 Bytes per Int32.
self.assertEquals(info.uncompressed, 5167)
self.assertEquals(info.compressed, 5167)
with rosbag.Bag(fn, mode='w',
compression=rosbag.Compression.BZ2) as bag:
for i in xrange(100):
bag.write("/test_bag", Int32(data=i))
with rosbag.Bag(fn) as bag:
info = bag.get_compression_info()
self.assertEquals(info.compression, rosbag.Compression.BZ2)
self.assertEquals(info.uncompressed, 5167)
# the value varies each run, I suspect based on rand, but seems
# to generally be around 960 to 980 on my comp
self.assertLess(info.compressed, 1000)
self.assertGreater(info.compressed, 900)
def test_get_compression_info(self):
fn = '/tmp/test_get_compression_info.bag'
# No Compression
with rosbag.Bag(fn, mode='w') as bag:
for i in xrange(100):
bag.write("/test_bag", Int32(data=i))
with rosbag.Bag(fn) as bag:
info = bag.get_compression_info()
self.assertEquals(info.compression, rosbag.Compression.NONE)
# 167 Bytes of overhead, 50 Bytes per Int32.
self.assertEquals(info.uncompressed, 5166)
self.assertEquals(info.compressed, 5166)
with rosbag.Bag(fn, mode='w', compression=rosbag.Compression.BZ2) as bag:
for i in xrange(100):
bag.write("/test_bag", Int32(data=i))
with rosbag.Bag(fn) as bag:
info = bag.get_compression_info()
self.assertEquals(info.compression, rosbag.Compression.BZ2)
self.assertEquals(info.uncompressed, 5166)
# the value varies each run, I suspect based on rand, but seems
# to generally be around 960 to 980 on my comp
self.assertLess(info.compressed, 1000)
self.assertGreater(info.compressed, 900)
def test_get_time(self):
fn = '/tmp/test_get_time.bag'
with rosbag.Bag(fn, mode='w') as bag:
for i in xrange(100):
bag.write("/test_bag", Int32(data=i), t=genpy.Time.from_sec(i))
with rosbag.Bag(fn) as bag:
start_stamp = bag.get_start_time()
end_stamp = bag.get_end_time()
self.assertEquals(start_stamp, 0.0)
self.assertEquals(end_stamp, 99.0)
def test_get_time(self):
fn = '/tmp/test_get_time.bag'
with rosbag.Bag(fn, mode='w') as bag:
for i in xrange(100):
bag.write("/test_bag", Int32(data=i), t=genpy.Time.from_sec(i))
with rosbag.Bag(fn) as bag:
start_stamp = bag.get_start_time()
end_stamp = bag.get_end_time()
self.assertEquals(start_stamp, 0.0)
self.assertEquals(end_stamp, 99.0)
def test_get_message_count(self):
fn = '/tmp/test_get_message_count.bag'
with rosbag.Bag(fn, mode='w') as bag:
for i in xrange(100):
bag.write("/test_bag", Int32(data=i))
bag.write("/test_bag", String(data='also'))
bag.write("/test_bag/more", String(data='alone'))
with rosbag.Bag(fn) as bag:
self.assertEquals(bag.get_message_count(), 300)
self.assertEquals(bag.get_message_count(topic_filters='/test_bag'), 200)
self.assertEquals(bag.get_message_count(topic_filters=['/test_bag', '/test_bag/more']), 300)
self.assertEquals(bag.get_message_count(topic_filters=['/none']), 0)
def test_get_type_and_topic_info(self):
fn = '/tmp/test_get_type_and_topic_info.bag'
topic_1 = "/test_bag"
topic_2 = "/test_bag/more"
with rosbag.Bag(fn, mode='w') as bag:
for i in xrange(100):
bag.write(topic_1, Int32(data=i))
bag.write(topic_1, String(data='also'))
bag.write(topic_2, String(data='alone'))
with rosbag.Bag(fn) as bag:
msg_types, topics = bag.get_type_and_topic_info()
self.assertEquals(len(msg_types), 2)
self.assertTrue("std_msgs/Int32" in msg_types)
self.assertTrue("std_msgs/String" in msg_types)
self.assertEquals(len(topics), 2)
self.assertTrue(topic_1 in topics)
self.assertTrue(topic_2 in topics)
self.assertEquals(topics[topic_1].message_count, 200)
self.assertEquals(topics[topic_1].msg_type, "std_msgs/Int32")
self.assertEquals(topics[topic_2].message_count, 100)
self.assertEquals(topics[topic_2].msg_type, "std_msgs/String")
#filter on topic 1
msg_types, topics = bag.get_type_and_topic_info(topic_1)
# msg_types should be unaffected by the filter
self.assertEquals(len(msg_types), 2)
self.assertTrue("std_msgs/Int32" in msg_types)
self.assertTrue("std_msgs/String" in msg_types)
self.assertEquals(len(topics), 1)
self.assertTrue(topic_1 in topics)
self.assertEquals(topics[topic_1].message_count, 200)
self.assertEquals(topics[topic_1].msg_type, "std_msgs/Int32")
#filter on topic 2
msg_types, topics = bag.get_type_and_topic_info(topic_2)
# msg_types should be unaffected by the filter
self.assertEquals(len(msg_types), 2)
self.assertTrue("std_msgs/Int32" in msg_types)
self.assertTrue("std_msgs/String" in msg_types)
self.assertEquals(len(topics), 1)
self.assertTrue(topic_2 in topics)
self.assertEquals(topics[topic_2].message_count, 100)
self.assertEquals(topics[topic_2].msg_type, "std_msgs/String")
#filter on missing topic
msg_types, topics = bag.get_type_and_topic_info("/none")
# msg_types should be unaffected by the filter
self.assertEquals(len(msg_types), 2)
self.assertTrue("std_msgs/Int32" in msg_types)
self.assertTrue("std_msgs/String" in msg_types)
# topics should be empty
self.assertEquals(len(topics), 0)
def test_get_type_and_topic_info(self):
fn = '/tmp/test_get_type_and_topic_info.bag'
topic_1 = "/test_bag"
topic_2 = "/test_bag/more"
with rosbag.Bag(fn, mode='w') as bag:
for i in xrange(100):
bag.write(topic_1, Int32(data=i))
bag.write(topic_1, String(data='also'))
bag.write(topic_2, String(data='alone'))
with rosbag.Bag(fn) as bag:
msg_types, topics = bag.get_type_and_topic_info()
self.assertEquals(len(msg_types), 2)
self.assertTrue("std_msgs/Int32" in msg_types)
self.assertTrue("std_msgs/String" in msg_types)
self.assertEquals(len(topics), 2)
self.assertTrue(topic_1 in topics)
self.assertTrue(topic_2 in topics)
self.assertEquals(topics[topic_1].message_count, 200)
self.assertEquals(topics[topic_1].msg_type, "std_msgs/Int32")
self.assertEquals(topics[topic_2].message_count, 100)
self.assertEquals(topics[topic_2].msg_type, "std_msgs/String")
#filter on topic 1
msg_types, topics = bag.get_type_and_topic_info(topic_1)
# msg_types should be unaffected by the filter
self.assertEquals(len(msg_types), 2)
self.assertTrue("std_msgs/Int32" in msg_types)
self.assertTrue("std_msgs/String" in msg_types)
self.assertEquals(len(topics), 1)
self.assertTrue(topic_1 in topics)
self.assertEquals(topics[topic_1].message_count, 200)
self.assertEquals(topics[topic_1].msg_type, "std_msgs/Int32")
#filter on topic 2
msg_types, topics = bag.get_type_and_topic_info(topic_2)
# msg_types should be unaffected by the filter
self.assertEquals(len(msg_types), 2)
self.assertTrue("std_msgs/Int32" in msg_types)
self.assertTrue("std_msgs/String" in msg_types)
self.assertEquals(len(topics), 1)
self.assertTrue(topic_2 in topics)
self.assertEquals(topics[topic_2].message_count, 100)
self.assertEquals(topics[topic_2].msg_type, "std_msgs/String")
#filter on missing topic
msg_types, topics = bag.get_type_and_topic_info("/none")
# msg_types should be unaffected by the filter
self.assertEquals(len(msg_types), 2)
self.assertTrue("std_msgs/Int32" in msg_types)
self.assertTrue("std_msgs/String" in msg_types)
# topics should be empty
self.assertEquals(len(topics), 0)
