def test_array():
a = Array()
for i in range(4):
a.append(i)
m = serialize(a)
m = deserialize(m)
assert len(m.array) == 4
for i in range(4):
assert m[i] == a[i]
def test_quaternion():
q = Quaternion()
q.x = 100
q.y = -100
q.z = 0.12345
q.w = -0.12345
m = serialize(q)
m = deserialize(m)
assert type(q) == type(m) == type(Quaternion())
assert q.Class == m.Class
assert q == m
def test_compass():
p = Compass()
p.set(1, 2, 3)
m = serialize(p)
m = deserialize(m)
assert type(p) == type(m) == type(Compass())
assert p.roll == m.roll
assert p.pitch == m.pitch
assert p.heading == m.heading
assert p.stamp == m.stamp
assert p.Class == m.Class
def test_vector():
v = Vector()
v.x = -0.00001
v.y = 2.123456789
v.z = -0.0123456789
m = serialize(v)
m = deserialize(m)
assert v.x == m.x
assert v.y == m.y
assert v.z == m.z
assert type(v) == type(m)
assert v.Class == m.Class
def test_pose():
p = Pose()
p.position.set(1, 2, 3)
p.orientation.set(1, 2, 3, 4)
m = serialize(p)
m = deserialize(m)
assert type(p) == type(m) == type(Pose())
assert isinstance(m.position, Vector)
assert isinstance(m.orientation, Quaternion)
assert p.position == m.position
assert p.orientation == m.orientation
assert p.stamp == m.stamp
assert p.Class == m.Class
def test_range():
v = Range()
v.range = [1, 2, 3]
v.range = [1, 2, 3, 4, 5, 6, 7, 8, 9, 0]
v.fov = 20.0
m = serialize(v)
m = deserialize(m)
assert v.range == m.range
assert type(v) == type(m)
assert v.Class == m.Class
assert len(v.range) == len(m.range)
assert v.stamp == m.stamp
assert v.fov == m.fov
def test_dictionary():
d = Dictionary()
d.dict['bob'] = 5
d.dict['jim'] = -7
m = serialize(d)
m = deserialize(m)
assert 'bob' in m.dict
assert m['bob'] == d['bob']
for key in m.keys():
assert m[key] == d[key]
for k, v in m.items():
assert d[k] == v
def test_imu():
p = IMU()
p.linear_acceleration.set(1, 2, 3)
p.angular_velocity.set(1, 2, 3)
p.orientation.set(1, 2, 3, 4)
m = serialize(p)
m = deserialize(m)
assert type(p) == type(m) == type(IMU())
assert isinstance(m.linear_acceleration, Vector)
assert isinstance(m.angular_velocity, Vector)
assert isinstance(m.orientation, Quaternion)
assert p.linear_acceleration == m.linear_acceleration
assert p.angular_velocity == m.angular_velocity
assert p.orientation == m.orientation
assert p.stamp == m.stamp
assert p.Class == m.Class
def test_image():
im = Image()
im.img = np.random.randint(0, 255, size=(5, 5))
msg = serialize(im)
i = deserialize(msg)
im.decodeB64() # serialize destroys original image
assert isinstance(im, Image)
assert isinstance(i, Image)
assert isinstance(im.img, np.ndarray), type(im.img)
assert isinstance(i.img, np.ndarray), type(i.img)
assert im.depth == i.depth
assert i.img.all() == im.img.all()
assert i.Class == im.Class
assert i.stamp == im.stamp
def test_joytstick():
p = Joystick()
p.axes.set([1, 1], [2, 2], [3, 3], 4, 5)
p.buttons.set(True, False, True, False, True, False, True, False, True,
False)
m = serialize(p)
m = deserialize(m)
assert type(p) == type(m) == type(Joystick())
assert isinstance(m.axes, Axes)
assert isinstance(m.buttons, Buttons)
assert p.axes.leftStick == m.axes.leftStick
assert p.axes.rightStick == m.axes.rightStick
assert p.axes.dPad == m.axes.dPad
assert p.axes.L2 == m.axes.L2
assert p.stamp == m.stamp
assert p.Class == m.Class
def test_twist():
t = Twist()
t.linear.set(.1, .2, .3)
t.angular.set(-1, -2., -3)
m = serialize(t)
m = deserialize(m)
assert m.linear == t.linear
assert m.angular == t.angular
assert isinstance(t, Twist)
assert isinstance(m, Twist)
assert isinstance(t.linear, Vector)
assert isinstance(t.angular, Vector)
assert isinstance(m.linear, Vector)
assert isinstance(m.angular, Vector)
assert t.stamp == m.stamp
assert t.Class == m.Class