def do_test(self, name, old_msg, new_msg):
# Name the bags
oldbag = "%s/test/%s_old.bag"%(self.pkg_dir,name)
newbag = "%s/test/%s_new.bag"%(self.pkg_dir,name)
# Create an old message
bag = rosbag.Bag(oldbag, 'w')
bag.write("topic", old_msg(), roslib.rostime.Time())
bag.close()
# Check and migrate
res = rosbagmigration.checkbag(migrator, oldbag)
self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
res = rosbagmigration.fixbag(migrator, oldbag, newbag)
self.assertTrue(res, 'Bag not converted successfully')
# Pull the first message out of the bag
topic, msg, t = rosbag.Bag(newbag).read_messages().next()
# Reserialize the new message so that floats get screwed up, etc.
m = new_msg()
buff = StringIO()
m.serialize(buff)
m.deserialize(buff.getvalue())
# Strifying them helps make the comparison easier until I figure out why the equality operator is failing
self.assertTrue(roslib.message.strify_message(msg) == roslib.message.strify_message(m))
# self.assertTrue(msgs[0][1] == m)
#Cleanup
os.remove(oldbag)
os.remove(newbag)
def test_subunmigrated(self):
tmp_rule_files = [
'migrated_explicit_rules.py', 'migrated_mixed_rules.py',
'migrated_addsub_rules.py'
]
rule_files = ["%s/test/%s" % (self.pkg_dir, r) for r in tmp_rule_files]
inbag = "%s/test/subunmigrated_gen1.bag" % (self.pkg_dir, )
mm = rosbagmigration.MessageMigrator(rule_files, False)
res = rosbagmigration.checkbag(mm, inbag)
self.assertTrue(len(res[0][1]) == 1)
self.assertTrue(not res[0][1][0].valid)
self.assertEqual(res[0][1][0].old_class._md5sum,
'4b12e5ff694b0e2a31b2ea9e0bd900f4')
self.assertEqual(res[0][1][0].new_class._md5sum,
'b5d640967dccef2a24697ec4b8a571ec')
def do_test(self, name, old_msg, new_msg):
# Name the bags
oldbag = "%s/test/%s_old.bag" % (self.pkg_dir, name)
newbag = "%s/test/%s_new.bag" % (self.pkg_dir, name)
# Create an old message
bag = rosrecord.Rebagger(oldbag)
bag.add("topic", old_msg(), roslib.rostime.Time())
bag.close()
# Check and migrate
res = rosbagmigration.checkbag(oldbag, [])
self.assertTrue(res is None or res == [],
'Bag not ready to be migrated')
res = rosbagmigration.fixbag(oldbag, newbag, [])
self.assertTrue(res, 'Bag not converted successfully')
# Pull the first message out of the bag
msgs = [msg for msg in rosrecord.logplayer(newbag)]
# Reserialize the new message so that floats get screwed up, etc.
m = new_msg()
buff = StringIO()
m.serialize(buff)
m.deserialize(buff.getvalue())
#Compare
# print "old"
# print roslib.message.strify_message(msgs[0][1])
# print "new"
# print roslib.message.strify_message(m)
# Strifying them helps make the comparison easier until I figure out why the equality operator is failing
self.assertTrue(
roslib.message.strify_message(msgs[0][1]) ==
roslib.message.strify_message(m))
# self.assertTrue(msgs[0][1] == m)
#Cleanup
os.remove(oldbag)
os.remove(newbag)
def do_test_constants_rules(self, N):
tmp_rule_files = ['constants.bmr']
rule_files = ["%s/test/%s" % (self.pkg_dir, r) for r in tmp_rule_files]
inbag = "%s/test/constants_gen%d.bag" % (self.pkg_dir, N)
outbag = "%s/test/constants_gen%d.fixed.bag" % (self.pkg_dir, N)
mm = rosbagmigration.MessageMigrator(rule_files, False)
res = rosbagmigration.checkbag(mm, inbag)
self.assertTrue(not False in [m[1] == [] for m in res],
'Bag not ready to be migrated')
res = rosbagmigration.fixbag(mm, inbag, outbag)
self.assertTrue(res, 'Bag not converted successfully')
msgs = [msg for msg in rosrecord.logplayer(outbag)]
self.assertTrue(len(msgs) > 0)
self.assertEqual(msgs[0][1]._type, 'test_rosbagmigration/Constants',
'Type name is wrong')
self.assertEqual(msgs[0][1].value, msgs[0][1].CONSTANT)
def do_test_convergent(self, N):
tmp_rule_files = [
'migrated_explicit_rules.py', 'migrated_mixed_rules.py',
'migrated_addsub_rules.py', 'renamed_rules.py',
'simple_migrated_rules.py', 'converged_rules.py'
]
rule_files = ["%s/test/%s" % (self.pkg_dir, r) for r in tmp_rule_files]
inbag = "%s/test/convergent_gen%d.bag" % (self.pkg_dir, N)
outbag = "%s/test/convergent_gen%d.fixed.bag" % (self.pkg_dir, N)
mm = rosbagmigration.MessageMigrator(rule_files, False)
res = rosbagmigration.checkbag(mm, inbag)
self.assertTrue(not False in [m[1] == [] for m in res],
'Bag not ready to be migrated')
res = rosbagmigration.fixbag(mm, inbag, outbag)
self.assertTrue(res, 'Bag not converted successfully')
msgs = [msg for msg in rosrecord.logplayer(outbag)]
self.assertTrue(len(msgs) > 0)
self.assertEqual(msgs[0][1]._type, 'test_rosbagmigration/Converged',
'Type name is wrong')
self.assertEqual(msgs[0][1].field1[0],
struct.unpack('<f', struct.pack('<f', 1.2))[0])
self.assertEqual(msgs[0][1].field1[1],
struct.unpack('<f', struct.pack('<f', 3.4))[0])
self.assertEqual(msgs[0][1].field1[2],
struct.unpack('<f', struct.pack('<f', 5.6))[0])
self.assertEqual(msgs[0][1].field1[3],
struct.unpack('<f', struct.pack('<f', 7.8))[0])
self.assertEqual(msgs[0][1].field2[0].data, 11)
self.assertEqual(msgs[0][1].field2[1].data, 22)
self.assertEqual(msgs[0][1].field2[2].data, 33)
self.assertEqual(msgs[0][1].field2[3].data, 44)
def test_addsub(self):
tmp_rule_files = [
'migrated_explicit_rules.py', 'migrated_mixed_rules.py',
'migrated_addsub_rules.py'
]
rule_files = ["%s/test/%s" % (self.pkg_dir, r) for r in tmp_rule_files]
inbag = "%s/test/migrated_addsub_gen1.bag" % (self.pkg_dir, )
outbag = "%s/test/migrated_addsub_gen1.fixed.bag" % (self.pkg_dir, )
mm = rosbagmigration.MessageMigrator(rule_files, False)
res = rosbagmigration.checkbag(mm, inbag)
self.assertTrue(not False in [m[1] == [] for m in res],
'Bag not ready to be migrated')
res = rosbagmigration.fixbag(mm, inbag, outbag)
self.assertTrue(res, 'Bag not converted successfully')
msgs = [msg for msg in rosrecord.logplayer(outbag)]
self.assertTrue(len(msgs) > 0)
self.assertEqual(msgs[0][1].field1.field1, 42)
self.assertEqual(msgs[0][1].field2.field1, 42)