def test_load_depends_srv():
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_depends, MsgNotFound, load_srv_by_type
test_d = get_test_dir()
geometry_d = os.path.join(test_d, "geometry_msgs", "msg")
msg_search_path = {
"test_ros": os.path.join(test_d, "test_ros", "msg"),
"std_msgs": os.path.join(test_d, "std_msgs", "msg"),
"geometry_msgs": geometry_d,
"sensor_msgs": os.path.join(test_d, "sensor_msgs", "msg"),
"invalid": os.path.join(test_d, "invalid", "msg"),
}
# Test with srvs
srv_search_path = {
"test_ros": os.path.join(test_d, "test_ros", "srv"),
"std_srvs": os.path.join(test_d, "std_srvs", "srv"),
}
msg_context = MsgContext.create_default()
root_spec = load_srv_by_type(msg_context, "test_ros/AddTwoInts", srv_search_path)
load_depends(msg_context, root_spec, msg_search_path)
val = msg_context.get_depends("test_ros/AddTwoIntsRequest")
assert val == [], val
val = msg_context.get_depends("test_ros/AddTwoIntsResponse")
assert val == [], val
# test with srv that has depends
msg_context = MsgContext.create_default()
response_deps = [
"std_msgs/Header",
"geometry_msgs/Pose",
"geometry_msgs/PoseStamped",
"geometry_msgs/Point",
"geometry_msgs/Quaternion",
]
root_spec = load_srv_by_type(msg_context, "test_ros/GetPoseStamped", srv_search_path)
val = load_depends(msg_context, root_spec, msg_search_path)
assert set(val) == set(response_deps)
val = msg_context.get_depends("test_ros/GetPoseStampedRequest")
assert val == [], val
val = msg_context.get_depends("test_ros/GetPoseStampedResponse")
assert set(val) == set(response_deps), val
# Test with nonsense
class Foo(object):
pass
try:
load_depends(msg_context, Foo(), msg_search_path)
assert False, "should have raised"
except ValueError:
pass
def test_load_depends_msg():
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_depends, MsgNotFound, load_srv_by_type
test_d = get_test_dir()
geometry_d = os.path.join(test_d, 'geometry_msgs', 'msg')
msg_search_path = {
'test_ros': [ os.path.join(test_d, 'test_ros', 'msg') ],
'std_msgs': [ os.path.join(test_d, 'std_msgs', 'msg') ],
'geometry_msgs': [ geometry_d ],
'sensor_msgs': [ os.path.join(test_d, 'sensor_msgs', 'msg') ],
'invalid': [ os.path.join(test_d, 'invalid', 'msg') ],
}
# Test not found
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'invalid/BadDepend', msg_search_path)
try:
load_depends(msg_context, root_spec, msg_search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
root_spec = load_msg_by_type(msg_context, 'invalid/BadLocalDepend', msg_search_path)
try:
load_depends(msg_context, root_spec, msg_search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
# Test with msgs
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'geometry_msgs/PoseStamped', msg_search_path)
load_depends(msg_context, root_spec, msg_search_path)
file_p = os.path.join(test_d, 'geometry_msgs', 'msg', 'PoseStamped.msg')
assert file_p == msg_context.get_file('geometry_msgs/PoseStamped')
val = msg_context.get_all_depends('geometry_msgs/PoseStamped')
assert set(['std_msgs/Header', 'geometry_msgs/Pose', 'geometry_msgs/Point', 'geometry_msgs/Quaternion']) == set(val), val
val = msg_context.get_depends('geometry_msgs/PoseStamped')
assert set(['std_msgs/Header', 'geometry_msgs/Pose']) == set(val), val
for s in ['Header']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
for s in ['Pose', 'Point', 'Quaternion']:
file_p = os.path.join(geometry_d, '%s.msg'%s)
assert file_p == msg_context.get_file('geometry_msgs/%s'%s)
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'sensor_msgs/Imu', msg_search_path)
load_depends(msg_context, root_spec, msg_search_path)
file_p = os.path.join(test_d, 'sensor_msgs', 'msg', 'Imu.msg')
assert file_p == msg_context.get_file('sensor_msgs/Imu')
val = msg_context.get_depends('sensor_msgs/Imu')
assert set(['std_msgs/Header', 'geometry_msgs/Quaternion', 'geometry_msgs/Vector3']) == set(val), val
for s in ['Header']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
for s in ['Quaternion', 'Vector3']:
file_p = os.path.join(geometry_d, '%s.msg'%s)
assert file_p == msg_context.get_file('geometry_msgs/%s'%s)
def test_load_depends_msg():
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_depends, MsgNotFound, load_srv_by_type
test_d = get_test_dir()
geometry_d = os.path.join(test_d, 'geometry_msgs', 'msg')
msg_search_path = {
'test_ros': [ os.path.join(test_d, 'test_ros', 'msg') ],
'std_msgs': [ os.path.join(test_d, 'std_msgs', 'msg') ],
'geometry_msgs': [ geometry_d ],
'sensor_msgs': [ os.path.join(test_d, 'sensor_msgs', 'msg') ],
'invalid': [ os.path.join(test_d, 'invalid', 'msg') ],
}
# Test not found
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'invalid/BadDepend', msg_search_path)
try:
load_depends(msg_context, root_spec, msg_search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
root_spec = load_msg_by_type(msg_context, 'invalid/BadLocalDepend', msg_search_path)
try:
load_depends(msg_context, root_spec, msg_search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
# Test with msgs
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'geometry_msgs/PoseStamped', msg_search_path)
load_depends(msg_context, root_spec, msg_search_path)
file_p = os.path.join(test_d, 'geometry_msgs', 'msg', 'PoseStamped.msg')
assert file_p == msg_context.get_file('geometry_msgs/PoseStamped')
val = msg_context.get_all_depends('geometry_msgs/PoseStamped')
assert set(['std_msgs/Header', 'geometry_msgs/Pose', 'geometry_msgs/Point', 'geometry_msgs/Quaternion']) == set(val), val
val = msg_context.get_depends('geometry_msgs/PoseStamped')
assert set(['std_msgs/Header', 'geometry_msgs/Pose']) == set(val), val
for s in ['Header']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
for s in ['Pose', 'Point', 'Quaternion']:
file_p = os.path.join(geometry_d, '%s.msg'%s)
assert file_p == msg_context.get_file('geometry_msgs/%s'%s)
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'sensor_msgs/Imu', msg_search_path)
load_depends(msg_context, root_spec, msg_search_path)
file_p = os.path.join(test_d, 'sensor_msgs', 'msg', 'Imu.msg')
assert file_p == msg_context.get_file('sensor_msgs/Imu')
val = msg_context.get_depends('sensor_msgs/Imu')
assert set(['std_msgs/Header', 'geometry_msgs/Quaternion', 'geometry_msgs/Vector3']) == set(val), val
for s in ['Header']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
for s in ['Quaternion', 'Vector3']:
file_p = os.path.join(geometry_d, '%s.msg'%s)
assert file_p == msg_context.get_file('geometry_msgs/%s'%s)
def test_load_depends_msg():
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_depends, MsgNotFound, load_srv_by_type
test_d = get_test_dir()
geometry_d = os.path.join(test_d, "geometry_msgs", "msg")
msg_search_path = {
"test_ros": os.path.join(test_d, "test_ros", "msg"),
"std_msgs": os.path.join(test_d, "std_msgs", "msg"),
"geometry_msgs": geometry_d,
"sensor_msgs": os.path.join(test_d, "sensor_msgs", "msg"),
"invalid": os.path.join(test_d, "invalid", "msg"),
}
# Test not found
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, "invalid/BadDepend", msg_search_path)
try:
load_depends(msg_context, root_spec, msg_search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
root_spec = load_msg_by_type(msg_context, "invalid/BadLocalDepend", msg_search_path)
try:
load_depends(msg_context, root_spec, msg_search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
# Test with msgs
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, "geometry_msgs/PoseStamped", msg_search_path)
load_depends(msg_context, root_spec, msg_search_path)
file_p = os.path.join(test_d, "geometry_msgs", "msg", "PoseStamped.msg")
assert file_p == msg_context.get_file("geometry_msgs/PoseStamped")
val = msg_context.get_depends("geometry_msgs/PoseStamped")
assert set(["std_msgs/Header", "geometry_msgs/Pose", "geometry_msgs/Point", "geometry_msgs/Quaternion"]) == set(
val
), val
for s in ["Header"]:
file_p = os.path.join(test_d, "std_msgs", "msg", "%s.msg" % s)
assert file_p == msg_context.get_file("std_msgs/%s" % s)
for s in ["Pose", "Point", "Quaternion"]:
file_p = os.path.join(geometry_d, "%s.msg" % s)
assert file_p == msg_context.get_file("geometry_msgs/%s" % s)
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, "sensor_msgs/Imu", msg_search_path)
load_depends(msg_context, root_spec, msg_search_path)
file_p = os.path.join(test_d, "sensor_msgs", "msg", "Imu.msg")
assert file_p == msg_context.get_file("sensor_msgs/Imu")
val = msg_context.get_depends("sensor_msgs/Imu")
assert set(["std_msgs/Header", "geometry_msgs/Quaternion", "geometry_msgs/Vector3"]) == set(val), val
for s in ["Header"]:
file_p = os.path.join(test_d, "std_msgs", "msg", "%s.msg" % s)
assert file_p == msg_context.get_file("std_msgs/%s" % s)
for s in ["Quaternion", "Vector3"]:
file_p = os.path.join(geometry_d, "%s.msg" % s)
assert file_p == msg_context.get_file("geometry_msgs/%s" % s)
def test_load_depends_srv():
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_depends, MsgNotFound, load_srv_by_type
test_d = get_test_dir()
geometry_d = os.path.join(test_d, 'geometry_msgs', 'msg')
msg_search_path = {
'test_ros': os.path.join(test_d, 'test_ros', 'msg'),
'std_msgs': os.path.join(test_d, 'std_msgs', 'msg'),
'geometry_msgs': geometry_d,
'sensor_msgs': os.path.join(test_d, 'sensor_msgs', 'msg'),
'invalid': os.path.join(test_d, 'invalid', 'msg'),
}
# Test with srvs
srv_search_path = {
'test_ros': os.path.join(test_d, 'test_ros', 'srv'),
'std_srvs': os.path.join(test_d, 'std_srvs', 'srv'),
}
msg_context = MsgContext.create_default()
root_spec = load_srv_by_type(msg_context, 'test_ros/AddTwoInts', srv_search_path)
load_depends(msg_context, root_spec, msg_search_path)
val = msg_context.get_depends('test_ros/AddTwoIntsRequest')
assert val == [], val
val = msg_context.get_depends('test_ros/AddTwoIntsResponse')
assert val == [], val
# test with srv that has depends
msg_context = MsgContext.create_default()
response_deps = ['std_msgs/Header', 'geometry_msgs/Pose', 'geometry_msgs/PoseStamped', 'geometry_msgs/Point', 'geometry_msgs/Quaternion']
root_spec = load_srv_by_type(msg_context, 'test_ros/GetPoseStamped', srv_search_path)
val = load_depends(msg_context, root_spec, msg_search_path)
assert set(val) == set(response_deps)
val = msg_context.get_depends('test_ros/GetPoseStampedRequest')
assert val == [], val
val = msg_context.get_depends('test_ros/GetPoseStampedResponse')
assert set(val) == set(response_deps), val
# Test with nonsense
class Foo(object): pass
try:
load_depends(msg_context, Foo(), msg_search_path)
assert False, "should have raised"
except ValueError:
pass
def test_load_depends_srv():
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_depends, MsgNotFound, load_srv_by_type
test_d = get_test_dir()
geometry_d = os.path.join(test_d, 'geometry_msgs', 'msg')
msg_search_path = {
'test_ros': [ os.path.join(test_d, 'test_ros', 'msg') ],
'std_msgs': [ os.path.join(test_d, 'std_msgs', 'msg') ],
'geometry_msgs': [ geometry_d ],
'sensor_msgs': [ os.path.join(test_d, 'sensor_msgs', 'msg') ],
'invalid': [ os.path.join(test_d, 'invalid', 'msg') ],
}
# Test with srvs
srv_search_path = {
'test_ros': [ os.path.join(test_d, 'test_ros', 'srv') ],
'std_srvs': [ os.path.join(test_d, 'std_srvs', 'srv') ],
}
msg_context = MsgContext.create_default()
root_spec = load_srv_by_type(msg_context, 'test_ros/AddTwoInts', srv_search_path)
load_depends(msg_context, root_spec, msg_search_path)
val = msg_context.get_depends('test_ros/AddTwoIntsRequest')
assert val == [], val
val = msg_context.get_depends('test_ros/AddTwoIntsResponse')
assert val == [], val
# test with srv that has depends
msg_context = MsgContext.create_default()
response_deps = ['std_msgs/Header', 'geometry_msgs/Pose', 'geometry_msgs/PoseStamped', 'geometry_msgs/Point', 'geometry_msgs/Quaternion']
root_spec = load_srv_by_type(msg_context, 'test_ros/GetPoseStamped', srv_search_path)
load_depends(msg_context, root_spec, msg_search_path)
for d in response_deps:
assert msg_context.is_registered(d)
val = msg_context.get_depends('test_ros/GetPoseStampedRequest')
assert val == [], val
val = msg_context.get_depends('test_ros/GetPoseStampedResponse')
assert val == ['geometry_msgs/PoseStamped']
# Test with nonsense
class Foo(object): pass
try:
load_depends(msg_context, Foo(), msg_search_path)
assert False, "should have raised"
except ValueError:
pass
