def test_field_constructor():
type_ = Type('bool')
field = Field(type_, 'foo')
assert field.type == type_
assert field.name == 'foo'
assert field.default_value is None
field = Field(type_, 'foo', '1')
assert field.default_value
with pytest.raises(TypeError):
Field('type', 'foo')
with pytest.raises(NameError):
Field(type_, 'foo bar')
type_ = Type('bool[2]')
field = Field(type_, 'foo', '[false, true]')
assert field.default_value == [False, True]
type_ = Type('bool[]')
field = Field(type_, 'foo', '[false, true, false]')
assert field.default_value == [False, True, False]
type_ = Type('bool[3]')
with pytest.raises(InvalidValue):
Field(type_, 'foo', '[false, true]')
def test_parse_primitive_value_string_float():
for float_type in ['float32', 'float64']:
value = parse_primitive_value_string(Type(float_type), '0')
assert value == 0
value = parse_primitive_value_string(Type(float_type), '0.0')
assert value == 0
value = parse_primitive_value_string(Type(float_type), '3.14')
assert value == 3.14
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type(float_type), 'value')
def test_validate_field_types():
msg_spec = MessageSpecification('pkg', 'Foo', [], [])
known_msg_type = []
validate_field_types(msg_spec, known_msg_type)
msg_spec.fields.append(Field(Type('bool'), 'foo'))
validate_field_types(msg_spec, known_msg_type)
msg_spec.fields.append(Field(Type('pkg/Bar'), 'bar'))
with pytest.raises(UnknownMessageType):
validate_field_types(msg_spec, known_msg_type)
known_msg_type.append(BaseType('pkg/Bar'))
validate_field_types(msg_spec, known_msg_type)
def test_message_specification_constructor():
msg_spec = MessageSpecification('pkg', 'Foo', [], [])
assert msg_spec.base_type.pkg_name == 'pkg'
assert msg_spec.base_type.type == 'Foo'
assert len(msg_spec.fields) == 0
assert len(msg_spec.constants) == 0
with pytest.raises(TypeError):
MessageSpecification('pkg', 'Foo', None, [])
with pytest.raises(TypeError):
MessageSpecification('pkg', 'Foo', [], None)
with pytest.raises(TypeError):
MessageSpecification('pkg', 'Foo', ['field'], [])
with pytest.raises(TypeError):
MessageSpecification('pkg', 'Foo', [], ['constant'])
field = Field(Type('bool'), 'foo', '1')
constant = Constant('bool', 'BAR', '1')
msg_spec = MessageSpecification('pkg', 'Foo', [field], [constant])
assert len(msg_spec.fields) == 1
assert msg_spec.fields[0] == field
assert len(msg_spec.constants) == 1
assert msg_spec.constants[0] == constant
with pytest.raises(ValueError):
MessageSpecification('pkg', 'Foo', [field, field], [])
with pytest.raises(ValueError):
MessageSpecification('pkg', 'Foo', [], [constant, constant])
def test_parse_primitive_value_string_bool():
valid_bool_string_values = {
'true': True,
'TrUe': True,
'TRUE': True,
'1': True,
'false': False,
'FaLsE': False,
'FALSE': False,
'0': False,
}
for string_value, expected_value in valid_bool_string_values.items():
value = parse_primitive_value_string(Type('bool'), string_value)
assert value == expected_value
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type('bool'), '5')
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type('bool'), 'true ')
def test_message_specification_methods():
field = Field(Type('bool'), 'foo', '1')
constant = Constant('bool', 'BAR', '1')
msg_spec = MessageSpecification('pkg', 'Foo', [field], [constant])
assert msg_spec != 'spec'
assert msg_spec == MessageSpecification('pkg', 'Foo', [field], [constant])
assert msg_spec != MessageSpecification('pkg', 'Bar', [], [])
assert msg_spec != MessageSpecification('pkg', 'Foo', [field], [])
assert msg_spec != MessageSpecification('pkg', 'Foo', [], [constant])
def test_parse_primitive_value_string_integer():
integer_types = {
'byte': [8, True],
'char': [8, False],
'int8': [8, False],
'uint8': [8, True],
'int16': [16, False],
'uint16': [16, True],
'int32': [32, False],
'uint32': [32, True],
'int64': [64, False],
'uint64': [64, True],
}
for integer_type, (bits, is_unsigned) in integer_types.items():
lower_bound = 0 if is_unsigned else -(2**(bits - 1))
upper_bound = (2**(bits if is_unsigned else (bits - 1))) - 1
value = parse_primitive_value_string(Type(integer_type),
str(lower_bound))
assert value == lower_bound
value = parse_primitive_value_string(Type(integer_type), str(0))
assert value == 0
value = parse_primitive_value_string(Type(integer_type),
str(upper_bound))
assert value == upper_bound
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type(integer_type), 'value')
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type(integer_type),
str(lower_bound - 1))
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type(integer_type),
str(upper_bound + 1))
def test_type_constructor():
type_ = Type('bool')
assert type_.pkg_name is None
assert type_.type == 'bool'
assert type_.string_upper_bound is None
assert not type_.is_array
assert type_.array_size is None
assert not type_.is_upper_bound
type_ = Type('bool[]')
assert type_.pkg_name is None
assert type_.type == 'bool'
assert type_.string_upper_bound is None
assert type_.is_array
assert type_.array_size is None
assert not type_.is_upper_bound
with pytest.raises(TypeError):
Type('bool]')
type_ = Type('bool[5]')
assert type_.pkg_name is None
assert type_.type == 'bool'
assert type_.string_upper_bound is None
assert type_.is_array
assert type_.array_size == 5
assert not type_.is_upper_bound
type_ = Type('bool[<=5]')
assert type_.pkg_name is None
assert type_.type == 'bool'
assert type_.string_upper_bound is None
assert type_.is_array
assert type_.array_size == 5
assert type_.is_upper_bound
with pytest.raises(TypeError):
Type('bool[size]')
with pytest.raises(TypeError):
Type('bool[0]')
with pytest.raises(TypeError):
Type('bool[<=size]')
with pytest.raises(TypeError):
Type('bool[<=0]')
def test_parse_primitive_value_string_string():
value = parse_primitive_value_string(Type('string'), 'foo')
assert value == 'foo'
value = parse_primitive_value_string(Type('string'), '"foo"')
assert value == 'foo'
value = parse_primitive_value_string(Type('string'), "'foo'")
assert value == 'foo'
value = parse_primitive_value_string(Type('string'), '"\'foo\'"')
assert value == "'foo'"
value = parse_primitive_value_string(Type('string'), '"foo ')
assert value == '"foo '
value = parse_primitive_value_string(Type('string<=3'), 'foo')
assert value == 'foo'
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type('string<=3'), 'foobar')
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type('string'), r"""'foo''""")
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type('string'),
r'''"foo"bar\"baz"''') # noqa: Q001
value = parse_primitive_value_string(Type('string'), '"foo')
assert value == '"foo'
value = parse_primitive_value_string(Type('string'), '"foo')
assert value == '"foo'
value = parse_primitive_value_string(Type('string'), '\'foo')
assert value == "'foo"
value = parse_primitive_value_string(Type('string'), '"foo')
assert value == '"foo'
value = parse_primitive_value_string(Type('string'), '\'fo\'o')
assert value == "'fo'o"
value = parse_primitive_value_string(Type('string'), '"fo"o')
assert value == '"fo"o'
value = parse_primitive_value_string(Type('string'),
r'''"'foo'"''') # noqa: Q001
assert value == "'foo'"
value = parse_primitive_value_string(Type('string'), r"""'"foo"'""")
assert value == '"foo"'
def test_parse_primitive_value_string_invalid():
with pytest.raises(ValueError):
parse_primitive_value_string(Type('pkg/Foo'), '')
with pytest.raises(ValueError):
parse_primitive_value_string(Type('bool[]'), '')
def test_type_methods():
assert Type('bool[5]') != 23
assert Type('pkg/Foo') == Type('pkg/Foo')
assert Type('pkg/Foo[]') == Type('pkg/Foo[]')
assert Type('pkg/Foo[5]') == Type('pkg/Foo[5]')
assert Type('pkg/Foo[<=5]') == Type('pkg/Foo[<=5]')
assert Type('bool') != Type('pkg/Foo')
assert Type('pkg/Foo[]') != Type('pkg/Foo[5]')
assert Type('pkg/Foo[5]') != Type('pkg/Foo[<=5]')
assert Type('pkg/Foo[<=5]') != Type('pkg/Foo[<=23]')
{Type('pkg/Foo[5]'): None}
assert str(Type('pkg/Foo[]')) == 'pkg/Foo[]'
assert str(Type('pkg/Foo[5]')) == 'pkg/Foo[5]'
assert str(Type('pkg/Foo[<=5]')) == 'pkg/Foo[<=5]'
def ros_to_tortoise_type(ros_type: RosType) -> str:
"""
tortoise-orm types:
BigInt
Binary
Boolean
Char
Date
DateTime
Decimal
Float
Int
JSON
SmallInt
Text
TimeDelta
UUID
normal mappings:
bool: Boolean
int8: SmallInt
uint8: SmallInt
int16: SmallInt
uint16: SmallInt
int32: Int
uint32: Int
int64: BigInt
uint64: BigInt
float: Float
double: Float
string: Text
wstring: Binary
Nested: JSON
array mappings:
int8: Binary
uint8: Binary
others: JSON
special:
builtin_interfaces/Time: DatetimeField (assumed to be utc)
"""
if ros_type.is_primitive_type():
if ros_type.is_array:
if ros_type.type in ["int8", "uint8"]:
return "fields.BinaryField()"
else:
return "fields.JSONField()"
if ros_type.type == "bool":
return "fields.BooleanField()"
elif ros_type.type in ["int8", "uint8"]:
return "fields.SmallIntField()"
elif ros_type.type in ["int16", "uint16"]:
return "fields.SmallIntField()"
elif ros_type.type in ["int32", "uint32"]:
return "fields.IntField()"
elif ros_type.type in ["int64", "uint64"]:
return "fields.BigIntField()"
elif ros_type.type in ["float", "double", "float32", "float64"]:
return "fields.FloatField()"
elif ros_type.type == "string":
return "fields.TextField()"
elif ros_type.type == "wstring":
return "fields.BinaryField()"
else:
if ros_type.__str__() == "builtin_interfaces/Time":
return "fields.DatetimeField()"
else:
return "fields.JSONField()"
def test_parse_value_string_not_implemented():
with pytest.raises(NotImplementedError):
parse_value_string(Type('pkg/Foo[]'), '')
def test_parse_value_string():
with pytest.raises(InvalidValue):
parse_value_string(Type('bool[]'), '1')
with pytest.raises(InvalidValue):
parse_value_string(Type('bool[2]'), '[1]')
with pytest.raises(InvalidValue):
parse_value_string(Type('bool[<=1]'), '[1, 0]')
with pytest.raises(InvalidValue):
parse_value_string(Type('bool[]'), '[2]')
value = parse_value_string(Type('bool[]'), '[1]')
assert value
value = parse_value_string(Type('string[]'), "['foo', 'bar']")
assert value == ['foo', 'bar']
with pytest.raises(InvalidValue):
parse_value_string(Type('string[<=2]'), '[foo, bar, baz]')
with pytest.raises(InvalidValue):
parse_value_string(Type('string[<=2]'), """["foo", 'ba"r', "ba,z"]""")
with pytest.raises(ValueError):
parse_value_string(Type('string[<=3]'), """[,"foo", 'ba"r', "ba,z"]""")
with pytest.raises(ValueError):
parse_value_string(Type('string[<=3]'), """["foo", ,'ba"r', "ba,z"]""")
parse_value_string(Type('string[<=2]'), """["fo'o\\\", bar", baz]""")
assert value
def test_parse_value_string_primitive():
parse_value_string(Type('bool'), '1')
def test_field_methods():
assert Field(Type('bool'), 'foo') != 23
assert (Field(Type('bool'), 'foo', '1') == Field(Type('bool'), 'foo',
'true'))
assert (Field(Type('bool'), 'foo', '1') != Field(Type('bool'), 'foo',
'false'))
assert (Field(Type('bool'), 'foo', '1') != Field(Type('bool'), 'bar', '1'))
assert (Field(Type('bool'), 'foo', '1') != Field(Type('byte'), 'foo', '1'))
assert str(Field(Type('bool'), 'foo', '1')) == 'bool foo True'
assert str(Field(Type('string<=5'), 'foo', 'value')) == \
"string<=5 foo 'value'"
