def test_dfa(self):
g = load_grammar(os.path.join(PKG, "data"), "udon")
gram = make_grammar_from_rules(g.rules)
voca = make_voca_from_categories(g.categories, g.vocabularies)
result = make_dfa(gram, voca)
self.assertIsNotNone(result)
self.assertEqual(len(result), 2)
def register_grammar(name, path):
root_dir, name = os.path.dirname(path), os.path.basename(path)
pub = rospy.Publisher("/grammar", Grammar, queue_size=1)
for i in range(10):
if rospy.is_shutdown() or pub.get_num_connections() > 0:
break
rospy.sleep(1)
rospy.loginfo("Waiting /grammar is advertised")
if pub.get_num_connections() == 0:
rospy.logerr("/grammar is not advertised")
return
gram = load_grammar(root_dir, name)
if name:
gram.name = name
pub.publish(gram)
def test_grammar(self):
g = load_grammar(os.path.join(PKG, "data"), "udon")
gram = make_grammar_from_rules(g.rules)
self.assertIsNotNone(gram)
def test_voca(self):
g = load_grammar(os.path.join(PKG, "data"), "udon")
voca = make_voca_from_categories(g.categories, g.vocabularies)
self.assertIsNotNone(voca)
def test_load_grammar(self):
self.assertTrue(os.path.join(PKG, "data", "udon.grammar"))
self.assertTrue(os.path.join(PKG, "data", "udon.voca"))
g = load_grammar(os.path.join(PKG, "data"), "udon")
self.assertIsNotNone(g)