def test_field_constructor():
type_ = Type('bool')
field = Field(type_, 'foo')
assert field.type == type_
assert field.name == 'foo'
assert field.default_value is None
field = Field(type_, 'foo', '1')
assert field.default_value
with assert_raises(TypeError):
Field('type', 'foo')
with assert_raises(NameError):
Field(type_, 'foo bar')
type_ = Type('bool[2]')
field = Field(type_, 'foo', '[false, true]')
assert field.default_value == [False, True]
type_ = Type('bool[]')
field = Field(type_, 'foo', '[false, true, false]')
assert field.default_value == [False, True, False]
type_ = Type('bool[3]')
with assert_raises(InvalidValue):
Field(type_, 'foo', '[false, true]')
def test_parse_primitive_value_string_float():
for float_type in ['float32', 'float64']:
value = parse_primitive_value_string(Type(float_type), '0')
assert value == 0
value = parse_primitive_value_string(Type(float_type), '0.0')
assert value == 0
value = parse_primitive_value_string(Type(float_type), '3.14')
assert value == 3.14
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type(float_type), 'value')
def test_validate_field_types():
msg_spec = MessageSpecification('pkg', 'Foo', [], [])
known_msg_type = []
validate_field_types(msg_spec, known_msg_type)
msg_spec.fields.append(Field(Type('bool'), 'foo'))
validate_field_types(msg_spec, known_msg_type)
msg_spec.fields.append(Field(Type('pkg/Bar'), 'bar'))
with assert_raises(UnknownMessageType):
validate_field_types(msg_spec, known_msg_type)
known_msg_type.append(BaseType('pkg/Bar'))
validate_field_types(msg_spec, known_msg_type)
def test_parse_value_string():
with assert_raises(InvalidValue):
parse_value_string(Type('bool[]'), '1')
with assert_raises(InvalidValue):
parse_value_string(Type('bool[2]'), '[1]')
with assert_raises(InvalidValue):
parse_value_string(Type('bool[<=1]'), '[1, 0]')
with assert_raises(InvalidValue):
parse_value_string(Type('bool[]'), '[2]')
value = parse_value_string(Type('bool[]'), '[1]')
assert value
def test_message_specification_constructor():
msg_spec = MessageSpecification('pkg', 'Foo', [], [])
assert msg_spec.base_type.pkg_name == 'pkg'
assert msg_spec.base_type.type == 'Foo'
assert len(msg_spec.fields) == 0
assert len(msg_spec.constants) == 0
with assert_raises(TypeError):
MessageSpecification('pkg', 'Foo', None, [])
with assert_raises(TypeError):
MessageSpecification('pkg', 'Foo', [], None)
with assert_raises(TypeError):
MessageSpecification('pkg', 'Foo', ['field'], [])
with assert_raises(TypeError):
MessageSpecification('pkg', 'Foo', [], ['constant'])
field = Field(Type('bool'), 'foo', '1')
constant = Constant('bool', 'BAR', '1')
msg_spec = MessageSpecification('pkg', 'Foo', [field], [constant])
assert len(msg_spec.fields) == 1
assert msg_spec.fields[0] == field
assert len(msg_spec.constants) == 1
assert msg_spec.constants[0] == constant
with assert_raises(ValueError):
MessageSpecification('pkg', 'Foo', [field, field], [])
with assert_raises(ValueError):
MessageSpecification('pkg', 'Foo', [], [constant, constant])
def test_message_specification_methods():
field = Field(Type('bool'), 'foo', '1')
constant = Constant('bool', 'BAR', '1')
msg_spec = MessageSpecification('pkg', 'Foo', [field], [constant])
assert msg_spec != 'spec'
assert msg_spec == MessageSpecification('pkg', 'Foo', [field], [constant])
assert msg_spec != MessageSpecification('pkg', 'Bar', [], [])
assert msg_spec != MessageSpecification('pkg', 'Foo', [field], [])
assert msg_spec != MessageSpecification('pkg', 'Foo', [], [constant])
def test_parse_primitive_value_string_bool():
valid_bool_string_values = {
'true': True,
'TrUe': True,
'TRUE': True,
'1': True,
'false': False,
'FaLsE': False,
'FALSE': False,
'0': False,
}
for string_value, expected_value in valid_bool_string_values.items():
value = parse_primitive_value_string(Type('bool'), string_value)
assert value == expected_value
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type('bool'), '5')
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type('bool'), 'true ')
def test_parse_primitive_value_string_integer():
integer_types = {
'byte': [8, True],
'char': [8, False],
'int8': [8, False],
'uint8': [8, True],
'int16': [16, False],
'uint16': [16, True],
'int32': [32, False],
'uint32': [32, True],
'int64': [64, False],
'uint64': [64, True],
}
for integer_type, (bits, is_unsigned) in integer_types.items():
lower_bound = 0 if is_unsigned else -(2**(bits - 1))
upper_bound = (2**(bits if is_unsigned else (bits - 1))) - 1
value = parse_primitive_value_string(Type(integer_type),
str(lower_bound))
assert value == lower_bound
value = parse_primitive_value_string(Type(integer_type), str(0))
assert value == 0
value = parse_primitive_value_string(Type(integer_type),
str(upper_bound))
assert value == upper_bound
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type(integer_type), 'value')
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type(integer_type),
str(lower_bound - 1))
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type(integer_type),
str(upper_bound + 1))
def test_type_constructor():
type_ = Type('bool')
assert type_.pkg_name is None
assert type_.type == 'bool'
assert type_.string_upper_bound is None
assert not type_.is_array
assert type_.array_size is None
assert not type_.is_upper_bound
type_ = Type('bool[]')
assert type_.pkg_name is None
assert type_.type == 'bool'
assert type_.string_upper_bound is None
assert type_.is_array
assert type_.array_size is None
assert not type_.is_upper_bound
with assert_raises(TypeError):
Type('bool]')
type_ = Type('bool[5]')
assert type_.pkg_name is None
assert type_.type == 'bool'
assert type_.string_upper_bound is None
assert type_.is_array
assert type_.array_size == 5
assert not type_.is_upper_bound
type_ = Type('bool[<=5]')
assert type_.pkg_name is None
assert type_.type == 'bool'
assert type_.string_upper_bound is None
assert type_.is_array
assert type_.array_size == 5
assert type_.is_upper_bound
with assert_raises(TypeError):
Type('bool[size]')
with assert_raises(TypeError):
Type('bool[0]')
with assert_raises(TypeError):
Type('bool[<=size]')
with assert_raises(TypeError):
Type('bool[<=0]')
def test_parse_primitive_value_string_string():
value = parse_primitive_value_string(Type('string'), 'foo')
assert value == 'foo'
value = parse_primitive_value_string(Type('string'), '"foo"')
assert value == 'foo'
value = parse_primitive_value_string(Type('string'), "'foo'")
assert value == 'foo'
value = parse_primitive_value_string(Type('string'), '"\'foo\'"')
assert value == "'foo'"
value = parse_primitive_value_string(Type('string'), '"foo ')
assert value == '"foo '
value = parse_primitive_value_string(Type('string<=3'), 'foo')
assert value == 'foo'
with assert_raises(InvalidValue):
parse_primitive_value_string(Type('string<=3'), 'foobar')
def test_field_methods():
assert Field(Type('bool'), 'foo') != 23
assert (Field(Type('bool'), 'foo', '1') == Field(Type('bool'), 'foo',
'true'))
assert (Field(Type('bool'), 'foo', '1') != Field(Type('bool'), 'foo',
'false'))
assert (Field(Type('bool'), 'foo', '1') != Field(Type('bool'), 'bar', '1'))
assert (Field(Type('bool'), 'foo', '1') != Field(Type('byte'), 'foo', '1'))
assert str(Field(Type('bool'), 'foo', '1')) == 'bool foo True'
assert str(Field(Type('string<=5'), 'foo', 'value')) == \
"string<=5 foo 'value'"
def test_parse_value_string_primitive():
parse_value_string(Type('bool'), '1')
def test_parse_primitive_value_string_string():
value = parse_primitive_value_string(Type('string'), 'foo')
assert value == 'foo'
value = parse_primitive_value_string(Type('string'), '"foo"')
assert value == 'foo'
value = parse_primitive_value_string(Type('string'), "'foo'")
assert value == 'foo'
value = parse_primitive_value_string(Type('string'), '"\'foo\'"')
assert value == "'foo'"
value = parse_primitive_value_string(Type('string'), '"foo ')
assert value == '"foo '
value = parse_primitive_value_string(Type('string<=3'), 'foo')
assert value == 'foo'
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type('string<=3'), 'foobar')
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type('string'), r"""'foo''""")
with pytest.raises(InvalidValue):
parse_primitive_value_string(Type('string'),
r'''"foo"bar\"baz"''') # noqa: Q001
value = parse_primitive_value_string(Type('string'), '"foo')
assert value == '"foo'
value = parse_primitive_value_string(Type('string'), '"foo')
assert value == '"foo'
value = parse_primitive_value_string(Type('string'), '\'foo')
assert value == "'foo"
value = parse_primitive_value_string(Type('string'), '"foo')
assert value == '"foo'
value = parse_primitive_value_string(Type('string'), '\'fo\'o')
assert value == "'fo'o"
value = parse_primitive_value_string(Type('string'), '"fo"o')
assert value == '"fo"o'
value = parse_primitive_value_string(Type('string'),
r'''"'foo'"''') # noqa: Q001
assert value == "'foo'"
value = parse_primitive_value_string(Type('string'), r"""'"foo"'""")
assert value == '"foo"'
def test_parse_value_string():
with pytest.raises(InvalidValue):
parse_value_string(Type('bool[]'), '1')
with pytest.raises(InvalidValue):
parse_value_string(Type('bool[2]'), '[1]')
with pytest.raises(InvalidValue):
parse_value_string(Type('bool[<=1]'), '[1, 0]')
with pytest.raises(InvalidValue):
parse_value_string(Type('bool[]'), '[2]')
value = parse_value_string(Type('bool[]'), '[1]')
assert value
value = parse_value_string(Type('string[]'), "['foo', 'bar']")
assert value == ['foo', 'bar']
with pytest.raises(InvalidValue):
parse_value_string(Type('string[<=2]'), '[foo, bar, baz]')
with pytest.raises(InvalidValue):
parse_value_string(Type('string[<=2]'), """["foo", 'ba"r', "ba,z"]""")
with pytest.raises(ValueError):
parse_value_string(Type('string[<=3]'), """[,"foo", 'ba"r', "ba,z"]""")
with pytest.raises(ValueError):
parse_value_string(Type('string[<=3]'), """["foo", ,'ba"r', "ba,z"]""")
parse_value_string(Type('string[<=2]'), """["fo'o\\\", bar", baz]""")
assert value
def test_parse_value_string_not_implemented():
with pytest.raises(NotImplementedError):
parse_value_string(Type('pkg/Foo[]'), '')
def test_parse_primitive_value_string_invalid():
with pytest.raises(ValueError):
parse_primitive_value_string(Type('pkg/Foo'), '')
with pytest.raises(ValueError):
parse_primitive_value_string(Type('bool[]'), '')
def generate_dds_idl(generator_arguments_file, subfolders, extension_module_name):
args = read_generator_arguments(generator_arguments_file)
template_file = os.path.join(args['template_dir'], 'msg.idl.em')
assert os.path.exists(template_file), \
"The template '%s' does not exist" % template_file
# look for extensions for the default functions
functions = {
'get_include_directives': get_include_directives,
'get_post_struct_lines': get_post_struct_lines,
'msg_type_to_idl': msg_type_to_idl,
}
if extension_module_name is not None:
pkg = __import__(extension_module_name)
module_name = extension_module_name.rsplit('.', 1)[1]
if hasattr(pkg, module_name):
module = getattr(pkg, module_name)
for function_name in functions.keys():
if hasattr(module, function_name):
functions[function_name] = \
getattr(module, function_name)
pkg_name = args['package_name']
latest_target_timestamp = get_newest_modification_time(args['target_dependencies'])
for ros_interface_file in args['ros_interface_files']:
subfolder = os.path.basename(os.path.dirname(ros_interface_file))
extension = os.path.splitext(ros_interface_file)[1]
output_path = os.path.join(args['output_dir'], subfolder)
for sub in subfolders:
output_path = os.path.join(output_path, sub)
if extension == '.msg':
spec = parse_message_file(pkg_name, ros_interface_file)
generated_file = os.path.join(output_path, '%s_.idl' % spec.base_type.type)
data = {'spec': spec, 'subfolder': subfolder, 'subfolders': subfolders}
data.update(functions)
expand_template(
template_file, data, generated_file,
minimum_timestamp=latest_target_timestamp)
elif extension == '.srv':
srv_spec = parse_service_file(pkg_name, ros_interface_file)
request_fields = [
Field(
Type('uint64', context_package_name=pkg_name),
'client_guid_0', default_value_string=None),
Field(
Type('uint64', context_package_name=pkg_name),
'client_guid_1', default_value_string=None),
Field(
Type('int64', context_package_name=pkg_name),
'sequence_number', default_value_string=None),
Field(
Type('%s_Request' % srv_spec.srv_name, context_package_name=pkg_name),
'request', default_value_string=None)
]
response_fields = [
Field(
Type('uint64', context_package_name=pkg_name),
'client_guid_0', default_value_string=None),
Field(
Type('uint64', context_package_name=pkg_name),
'client_guid_1', default_value_string=None),
Field(
Type('int64', context_package_name=pkg_name),
'sequence_number', default_value_string=None),
Field(
Type('%s_Response' % srv_spec.srv_name, context_package_name=pkg_name),
'response', default_value_string=None)
]
constants = []
sample_spec_request = MessageSpecification(
srv_spec.pkg_name, 'Sample_%s_Request' % srv_spec.srv_name, request_fields,
constants)
sample_spec_response = MessageSpecification(
srv_spec.pkg_name, 'Sample_%s_Response' % srv_spec.srv_name, response_fields,
constants)
generated_files = [
(sample_spec_request, os.path.join(
output_path, '%s_.idl' % sample_spec_request.base_type.type)),
(sample_spec_response, os.path.join(
output_path, '%s_.idl' % sample_spec_response.base_type.type)),
]
for spec, generated_file in generated_files:
data = {'spec': spec, 'subfolder': 'srv', 'subfolders': subfolders}
data.update(functions)
expand_template(
template_file, data, generated_file,
minimum_timestamp=latest_target_timestamp)
return 0
def test_type_methods():
assert Type('bool[5]') != 23
assert Type('pkg/Foo') == Type('pkg/Foo')
assert Type('pkg/Foo[]') == Type('pkg/Foo[]')
assert Type('pkg/Foo[5]') == Type('pkg/Foo[5]')
assert Type('pkg/Foo[<=5]') == Type('pkg/Foo[<=5]')
assert Type('bool') != Type('pkg/Foo')
assert Type('pkg/Foo[]') != Type('pkg/Foo[5]')
assert Type('pkg/Foo[5]') != Type('pkg/Foo[<=5]')
assert Type('pkg/Foo[<=5]') != Type('pkg/Foo[<=23]')
{Type('pkg/Foo[5]'): None}
assert str(Type('pkg/Foo[]')) == 'pkg/Foo[]'
assert str(Type('pkg/Foo[5]')) == 'pkg/Foo[5]'
assert str(Type('pkg/Foo[<=5]')) == 'pkg/Foo[<=5]'
def test_parse_value_string_not_implemented():
with assert_raises(NotImplementedError):
parse_value_string(Type('string[]'), '[foo, bar]')
with assert_raises(NotImplementedError):
parse_value_string(Type('pkg/Foo[]'), '')