def test_sequential_writer(tmp_path):
"""
Test for sequential writer.
:return:
"""
bag_path = str(tmp_path / 'tmp_write_test')
storage_options, converter_options = get_rosbag_options(bag_path)
writer = rosbag2_py.SequentialWriter()
writer.open(storage_options, converter_options)
# create topic
topic_name = '/chatter'
create_topic(writer, topic_name, 'std_msgs/msg/String')
for i in range(10):
msg = String()
msg.data = f'Hello, world! {str(i)}'
time_stamp = i * 100
writer.write(topic_name, serialize_message(msg), time_stamp)
# close bag and create new storage instance
del writer
storage_options, converter_options = get_rosbag_options(bag_path)
reader = rosbag2_py.SequentialReader()
reader.open(storage_options, converter_options)
topic_types = reader.get_all_topics_and_types()
# Create a map for quicker lookup
type_map = {
topic_types[i].name: topic_types[i].type
for i in range(len(topic_types))
}
msg_counter = 0
while reader.has_next():
topic, data, t = reader.read_next()
msg_type = get_message(type_map[topic])
msg_deserialized = deserialize_message(data, msg_type)
assert isinstance(msg_deserialized, String)
assert msg_deserialized.data == f'Hello, world! {msg_counter}'
assert t == msg_counter * 100
msg_counter += 1
def test_seek_forward():
bag_path = str(RESOURCES_PATH / 'wbag')
storage_options, converter_options = get_rosbag_options(bag_path)
reader = rosbag2_py.SequentialReader()
reader.open(storage_options, converter_options)
# seek forward
reader.seek(1822)
(topic, data, t) = reader.read_next()
assert topic == 'CCC'
assert t == 1822
# set filter continues in same location
storage_filter = rosbag2_py.StorageFilter(topics=['BBB', 'GGG'])
reader.set_filter(storage_filter)
(topic, data, t) = reader.read_next()
assert topic == 'GGG'
assert t == 1822
(topic, data, t) = reader.read_next()
assert topic == 'GGG'
assert t == 1822
(topic, data, t) = reader.read_next()
assert topic == 'BBB'
assert t == 1826
def test_seek_backward():
bag_path = str(RESOURCES_PATH / 'wbag')
storage_options, converter_options = get_rosbag_options(bag_path)
reader = rosbag2_py.SequentialReader()
reader.open(storage_options, converter_options)
# seek forward first
reader.seek(1822)
storage_filter = rosbag2_py.StorageFilter(topics=['BBB', 'GGG'])
reader.set_filter(storage_filter)
(topic, data, t) = reader.read_next()
# seek backwards & filter preserved
reader.seek(1408)
(topic, data, t) = reader.read_next()
assert topic == 'BBB'
assert t == 1408
(topic, data, t) = reader.read_next()
assert topic == 'GGG'
assert t == 1408
(topic, data, t) = reader.read_next()
assert topic == 'BBB'
assert t == 1413
def test_reindexer_multiple_files():
bag_path = Path(__file__).parent.parent / 'resources' / 'reindex_test_bags' / 'multiple_files'
result_path = bag_path / 'metadata.yaml'
storage_options, converter_options = get_rosbag_options(str(bag_path))
reindexer = rosbag2_py.Reindexer()
reindexer.reindex(storage_options)
assert(result_path.exists())
result_path.unlink(missing_ok=True)
def test_reindexer_multiple_files():
bag_path = RESOURCES_PATH / 'reindex_test_bags' / 'multiple_files'
result_path = bag_path / 'metadata.yaml'
storage_options, converter_options = get_rosbag_options(str(bag_path))
reindexer = rosbag2_py.Reindexer()
reindexer.reindex(storage_options)
assert (result_path.exists())
try:
result_path.unlink()
except FileNotFoundError:
pass
def test_sequential_reader():
bag_path = str(Path(__file__).parent.parent / 'resources' / 'talker')
storage_options, converter_options = get_rosbag_options(bag_path)
reader = rosbag2_py.SequentialReader()
reader.open(storage_options, converter_options)
topic_types = reader.get_all_topics_and_types()
# Create a map for quicker lookup
type_map = {
topic_types[i].name: topic_types[i].type
for i in range(len(topic_types))
}
# Set filter for topic of string type
storage_filter = rosbag2_py.StorageFilter(topics=['/topic'])
reader.set_filter(storage_filter)
msg_counter = 0
while reader.has_next():
(topic, data, t) = reader.read_next()
msg_type = get_message(type_map[topic])
msg = deserialize_message(data, msg_type)
assert isinstance(msg, String)
assert msg.data == f'Hello, world! {msg_counter}'
msg_counter += 1
# No filter
reader.reset_filter()
reader = rosbag2_py.SequentialReader()
reader.open(storage_options, converter_options)
msg_counter = 0
while reader.has_next():
(topic, data, t) = reader.read_next()
msg_type = get_message(type_map[topic])
msg = deserialize_message(data, msg_type)
assert isinstance(msg, Log) or isinstance(msg, String)
if isinstance(msg, String):
assert msg.data == f'Hello, world! {msg_counter}'
msg_counter += 1
def test_reset_filter():
bag_path = str(RESOURCES_PATH / 'wbag')
storage_options, converter_options = get_rosbag_options(bag_path)
reader = rosbag2_py.SequentialReader()
reader.open(storage_options, converter_options)
# Set filter for topic of string type
storage_filter = rosbag2_py.StorageFilter(topics=['AAA', 'CCC', 'DDD'])
reader.set_filter(storage_filter)
(topic, data, t) = reader.read_next()
assert topic == 'AAA'
assert t == 1001
(topic, data, t) = reader.read_next()
assert topic == 'CCC'
assert t == 1002
(topic, data, t) = reader.read_next()
assert topic == 'AAA'
assert t == 1004
# No filter and bag continues same location
reader.reset_filter()
(topic, data, t) = reader.read_next()
assert topic == 'FFF'
assert t == 1004
(topic, data, t) = reader.read_next()
assert topic == 'BBB'
assert t == 1004
(topic, data, t) = reader.read_next()
assert topic == 'EEE'
assert t == 1005
def test_record_cancel(tmp_path):
bag_path = str(tmp_path / 'test_record_cancel')
storage_options, converter_options = get_rosbag_options(bag_path)
recorder = rosbag2_py.Recorder()
record_options = rosbag2_py.RecordOptions()
record_options.all = True
record_options.is_discovery_disabled = False
record_options.topic_polling_interval = datetime.timedelta(
milliseconds=100)
rclpy.init()
record_thread = threading.Thread(target=recorder.record,
args=(storage_options, record_options),
daemon=True)
record_thread.start()
node = rclpy.create_node('test_record_cancel')
executor = rclpy.executors.SingleThreadedExecutor()
executor.add_node(node)
pub = node.create_publisher(String, 'chatter', 10)
i = 0
msg = String()
while rclpy.ok() and i < 10:
msg.data = 'Hello World: {0}'.format(i)
i += 1
pub.publish(msg)
recorder.cancel()
metadata_path = Path(bag_path) / 'metadata.yaml'
db3_path = Path(bag_path) / 'test_record_cancel_0.db3'
assert wait_for(lambda: metadata_path.is_file() and db3_path.is_file(),
timeout=rclpy.duration.Duration(seconds=3))
def test_sequential_reader_seek():
bag_path = str(RESOURCES_PATH / 'talker')
storage_options, converter_options = get_rosbag_options(bag_path)
reader = rosbag2_py.SequentialReader()
reader.open(storage_options, converter_options)
topic_types = reader.get_all_topics_and_types()
# Create a map for quicker lookup
type_map = {
topic_types[i].name: topic_types[i].type
for i in range(len(topic_types))
}
# Seek No Filter
reader = rosbag2_py.SequentialReader()
reader.open(storage_options, converter_options)
reader.seek(1585866237113147888)
msg_counter = 5
(topic, data, t) = reader.read_next()
msg_type = get_message(type_map[topic])
msg = deserialize_message(data, msg_type)
assert isinstance(msg, Log)
(topic, data, t) = reader.read_next()
msg_type = get_message(type_map[topic])
msg = deserialize_message(data, msg_type)
isinstance(msg, String)
assert msg.data == f'Hello, world! {msg_counter}'
msg_counter += 1
# Set Filter will continue
storage_filter = rosbag2_py.StorageFilter(topics=['/topic'])
reader.set_filter(storage_filter)
(topic, data, t) = reader.read_next()
msg_type = get_message(type_map[topic])
msg = deserialize_message(data, msg_type)
isinstance(msg, String)
assert msg.data == f'Hello, world! {msg_counter}'
# Seek will keep filter
reader.seek(1585866239113147888)
msg_counter = 8
(topic, data, t) = reader.read_next()
msg_type = get_message(type_map[topic])
msg = deserialize_message(data, msg_type)
isinstance(msg, String)
assert msg.data == f'Hello, world! {msg_counter}'
msg_counter += 1
(topic, data, t) = reader.read_next()
msg_type = get_message(type_map[topic])
msg = deserialize_message(data, msg_type)
isinstance(msg, String)
assert msg.data == f'Hello, world! {msg_counter}'