def test_get_closest_message_by_rosbag_time(bag_file):
from bagmanager import BagManager
bag_manager = BagManager(bag_file=bag_file)
topic_1_info = bag_manager.get_topic_info('topic_1', get_header_time=False)
topic_2_info = bag_manager.get_topic_info('topic_2', get_header_time=True)
time_rosbag = topic_1_info['msg_time_list_rosbag'][9]
msg_topic_2 = bag_manager.get_closest_message_by_rosbag_time(topic='topic_2', time_rosbag=time_rosbag)
assert msg_topic_2.header.stamp == topic_2_info['msg_time_list_header'][-1] # checked manually,
def test_get_message_count_topic_2_in_interval_5_to_6(bag_file):
from bagmanager import BagManager
bag_manager = BagManager(bag_file=bag_file)
topic_2_info = bag_manager.get_topic_info('topic_2', get_header_time=False)
start_time_rosbag = topic_2_info['msg_time_list_rosbag'][5]
end_time_rosbag = topic_2_info['msg_time_list_rosbag'][6]
message_count = bag_manager.get_message_count_in_interval(topics='topic_2', start_time_rosbag=start_time_rosbag,
end_time_rosbag=end_time_rosbag)
assert message_count == 2
def test_topic_info_cache(bag_file):
from bagmanager import BagManager
bag_manager = BagManager(bag_file=bag_file)
topic_1_info = bag_manager.get_topic_info('topic_1', get_header_time=False)
assert bool(bag_manager._topics_info_cache) == True
assert 'topic_1' in bag_manager._topics_info_cache
assert bag_manager._topics_info_cache['topic_1']['msg_time_list_header'] is None
assert 'topic_2' not in bag_manager._topics_info_cache
topic_1_info_with_header_time = bag_manager.get_topic_info('topic_1', get_header_time=True)
assert bool(bag_manager._topics_info_cache) == True
assert 'topic_1' in bag_manager._topics_info_cache
assert bag_manager._topics_info_cache['topic_1']['msg_time_list_header'] is not None
assert 'topic_2' not in bag_manager._topics_info_cache
topic_2_info_with_header_time = bag_manager.get_topic_info('topic_2', get_header_time=True)
assert bool(bag_manager._topics_info_cache) == True
assert 'topic_1' in bag_manager._topics_info_cache
assert bag_manager._topics_info_cache['topic_1']['msg_time_list_header'] is not None
assert 'topic_2' in bag_manager._topics_info_cache
assert bag_manager._topics_info_cache['topic_2']['msg_time_list_header'] is not None
def test_get_message_by_index(bag_file):
from bagmanager import BagManager
bag_manager = BagManager(bag_file=bag_file)
topic_2_info = bag_manager.get_topic_info('topic_2', get_header_time=True)
with pytest.raises(IndexError) as e:
msg_topic_2 = bag_manager.get_message_by_index(topic='topic_2', index=7)
msg_topic_2 = bag_manager.get_message_by_index(topic='topic_2', index=6)
assert msg_topic_2.header.stamp == topic_2_info['msg_time_list_header'][-1] # checked manually,
# We asked for the the msg with index 6 and we verify that is what we get
msg_topic_2 = bag_manager.get_message_by_index(topic='topic_2', index=0)
assert msg_topic_2.header.stamp == topic_2_info['msg_time_list_header'][0] # checked manually,
def test_get_closest_message_by_header_time(bag_file):
from bagmanager import BagManager
bag_manager = BagManager(bag_file=bag_file)
topic_1_info = bag_manager.get_topic_info('topic_1', get_header_time=True)
topic_2_info = bag_manager.get_topic_info('topic_2', get_header_time=True)
time_header = topic_1_info['msg_time_list_header'][4]
msg_topic_2 = bag_manager.get_closest_message_by_header_time(topic='topic_2', time_header=time_header)
msg_topic_2_idx = topic_2_info['msg_time_list_header'].index(msg_topic_2.header.stamp)
assert msg_topic_2_idx == 4 # checked manually, since the seed is set to 0 this will always be true
time_header = topic_2_info['msg_time_list_header'][0]
msg_topic_1 = bag_manager.get_closest_message_by_header_time(topic='topic_1', time_header=time_header)
msg_topic_1_idx = topic_1_info['msg_time_list_header'].index(msg_topic_1.header.stamp)
assert msg_topic_1_idx == 0 # checked manually, since the seed is set to 0 this will always be true
def test_get_message_count_topic_2_in_interval_around_msgs(bag_file):
from bagmanager import BagManager
bag_manager = BagManager(bag_file=bag_file)
topic_2_info = bag_manager.get_topic_info('topic_2', get_header_time=False)
epsilon = rospy.Duration(1e-8)
start_time_rosbag = topic_2_info['msg_time_list_rosbag'][6] - epsilon
end_time_rosbag = topic_2_info['msg_time_list_rosbag'][6] + epsilon
message_count = bag_manager.get_message_count_in_interval(topics='topic_2', start_time_rosbag=start_time_rosbag,
end_time_rosbag=end_time_rosbag)
assert message_count == 1
start_time_rosbag = topic_2_info['msg_time_list_rosbag'][0] - epsilon
end_time_rosbag = topic_2_info['msg_time_list_rosbag'][0] + epsilon
message_count = bag_manager.get_message_count_in_interval(topics='topic_2', start_time_rosbag=start_time_rosbag,
end_time_rosbag=end_time_rosbag)
assert message_count == 1
start_time_rosbag = topic_2_info['msg_time_list_rosbag'][0] - epsilon
end_time_rosbag = topic_2_info['msg_time_list_rosbag'][1] + epsilon
message_count = bag_manager.get_message_count_in_interval(topics='topic_2', start_time_rosbag=start_time_rosbag,
end_time_rosbag=end_time_rosbag)
assert message_count == 2
start_time_rosbag = topic_2_info['msg_time_list_rosbag'][0] - epsilon
end_time_rosbag = topic_2_info['msg_time_list_rosbag'][-1] + epsilon
message_count = bag_manager.get_message_count_in_interval(topics='topic_2', start_time_rosbag=start_time_rosbag,
end_time_rosbag=end_time_rosbag)
assert message_count == 7
start_time_rosbag = topic_2_info['msg_time_list_rosbag'][0] - rospy.Duration(5)
end_time_rosbag = topic_2_info['msg_time_list_rosbag'][-1] + rospy.Duration(5)
message_count = bag_manager.get_message_count_in_interval(topics='topic_2', start_time_rosbag=start_time_rosbag,
end_time_rosbag=end_time_rosbag)
assert message_count == 7
start_time_rosbag = topic_2_info['msg_time_list_rosbag'][0] - epsilon
end_time_rosbag = topic_2_info['msg_time_list_rosbag'][0] - epsilon
message_count = bag_manager.get_message_count_in_interval(topics='topic_2', start_time_rosbag=start_time_rosbag,
end_time_rosbag=end_time_rosbag)
assert message_count == 0
def test_get_message_count_all_topics_all_times(bag_file):
from bagmanager import BagManager
bag_manager = BagManager(bag_file=bag_file)
topic_1_info = bag_manager.get_topic_info('topic_1', get_header_time=False)
epsilon = rospy.Duration(1e-8)
start_time_rosbag = topic_1_info['msg_time_list_rosbag'][0] - epsilon
end_time_rosbag = topic_1_info['msg_time_list_rosbag'][9] + epsilon
message_count = bag_manager.get_message_count_in_interval(topics=['topic_1', 'topic_2'],
start_time_rosbag=start_time_rosbag,
end_time_rosbag=end_time_rosbag)
assert message_count == 17
message_count = bag_manager.get_message_count_in_interval(topics=['topic_1', 'topic_2'],
start_time_rosbag=start_time_rosbag)
assert message_count == 17
message_count = bag_manager.get_message_count_in_interval(topics=['topic_1', 'topic_2'],
end_time_rosbag=end_time_rosbag)
assert message_count == 17
message_count = bag_manager.get_message_count_in_interval(topics=['topic_1', 'topic_2'])
assert message_count == 17