def test_servicetest2_types():
if sys.version_info < (3, 0):
return
node = RR.RobotRaconteurNode()
node.Init()
try:
node.RegisterServiceTypesFromFiles([
"com.robotraconteur.testing.TestService2",
"com.robotraconteur.testing.TestService1",
"com.robotraconteur.testing.TestService3",
"com.robotraconteur.testing.TestService5"
])
s1 = ServiceTest2_fill_teststruct3(node, 1000, None)
s1_m = PackMessageElement(
s1,
'com.robotraconteur.testing.TestService3.teststruct3',
node=node)
s1_m.UpdateData()
s1_1 = UnpackMessageElement(
s1_m,
'com.robotraconteur.testing.TestService3.teststruct3',
node=node)
ServiceTest2_verify_teststruct3(s1_1, 1000)
finally:
node.Shutdown()
def _do_array_test(to_rr, from_rr, shape, rr_type, node, f=None):
if f is None:
f = lambda a: a
arr = f(np.random.rand(*shape))
rr_val = to_rr(arr)
rr_msg = PackMessageElement(rr_val,
f"com.robotraconteur.geometry.{rr_type}",
node=node)
rr_msg.UpdateData()
rr_val2 = UnpackMessageElement(rr_msg, node=node)
arr2 = from_rr(rr_val2)
np.testing.assert_almost_equal(arr, arr2)
def _do_transform_test_xyz_rpy(to_rr, from_rr, rr_type, node):
xyz = np.random.rand(3)
rpy = np.random.rand(3)
rr_val = to_rr(xyz, rpy)
rr_msg = PackMessageElement(rr_val,
f"com.robotraconteur.geometry.{rr_type}",
node=node)
rr_msg.UpdateData()
rr_val2 = UnpackMessageElement(rr_msg, node=node)
xyz2, rpy2 = from_rr(rr_val2)
np.testing.assert_almost_equal(xyz, xyz2)
np.testing.assert_almost_equal(rpy, rpy2)
def _do_transform_test(to_rr, from_rr, rr_type, node):
rox_transform = rox.Transform(rox.rpy2R(np.random.rand(3)),
np.random.rand(3))
rr_val = to_rr(rox_transform)
rr_msg = PackMessageElement(rr_val,
f"com.robotraconteur.geometry.{rr_type}",
node=node)
rr_msg.UpdateData()
rr_val2 = UnpackMessageElement(rr_msg, node=node)
rox_transform2 = from_rr(rr_val2)
np.testing.assert_almost_equal(rox_transform.R, rox_transform2.R)
np.testing.assert_almost_equal(rox_transform.p, rox_transform2.p)
def _do_named_transform_test_xyz_rpy(to_rr, from_rr, rr_type, node):
xyz = np.random.rand(3)
rpy = np.random.rand(3)
rr_val = to_rr(xyz, rpy, "parent_frame_id", "child_frame_id")
rr_msg = PackMessageElement(rr_val,
f"com.robotraconteur.geometry.{rr_type}",
node=node)
rr_msg.UpdateData()
rr_val2 = UnpackMessageElement(rr_msg, node=node)
xyz2, rpy2, parent_frame_id2, child_frame_id2 = from_rr(rr_val2)
np.testing.assert_almost_equal(xyz, xyz2)
np.testing.assert_almost_equal(rpy, rpy2)
assert "parent_frame_id" == parent_frame_id2
assert "child_frame_id" == child_frame_id2
def _rr_varvalue_from_bytes(b, node):
m = MessageElementFromBytes(b)
return UnpackMessageElement(m, "varvalue", node=node)