def test_load_msg_depends_stamped():
# TODO: should there just be a 'load_msg, implicit=True?'
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_msg_depends
test_d = get_test_dir()
geometry_d = os.path.join(test_d, "geometry_msgs", "msg")
search_path = {
"test_ros": os.path.join(test_d, "test_ros", "msg"),
"std_msgs": os.path.join(test_d, "std_msgs", "msg"),
"geometry_msgs": geometry_d,
"sensor_msgs": os.path.join(test_d, "sensor_msgs", "msg"),
}
# Test with Stamped and deeper hierarchies, Header
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, "geometry_msgs/PoseStamped", search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, "geometry_msgs", "msg", "PoseStamped.msg")
assert file_p == msg_context.get_file("geometry_msgs/PoseStamped")
val = msg_context.get_depends("geometry_msgs/PoseStamped")
assert set(["std_msgs/Header", "geometry_msgs/Pose", "geometry_msgs/Point", "geometry_msgs/Quaternion"]) == set(
val
), val
for s in ["Header"]:
file_p = os.path.join(test_d, "std_msgs", "msg", "%s.msg" % s)
assert file_p == msg_context.get_file("std_msgs/%s" % s)
for s in ["Pose", "Point", "Quaternion"]:
file_p = os.path.join(geometry_d, "%s.msg" % s)
assert file_p == msg_context.get_file("geometry_msgs/%s" % s)
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, "geometry_msgs/TwistWithCovarianceStamped", search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, "geometry_msgs", "msg", "TwistWithCovarianceStamped.msg")
assert file_p == msg_context.get_file("geometry_msgs/TwistWithCovarianceStamped")
val = msg_context.get_depends("geometry_msgs/TwistWithCovarianceStamped")
assert set(
["std_msgs/Header", "geometry_msgs/TwistWithCovariance", "geometry_msgs/Twist", "geometry_msgs/Vector3"]
) == set(val), val
for s in ["Header"]:
file_p = os.path.join(test_d, "std_msgs", "msg", "%s.msg" % s)
assert file_p == msg_context.get_file("std_msgs/%s" % s)
for s in ["TwistWithCovariance", "Twist", "Vector3"]:
file_p = os.path.join(geometry_d, "%s.msg" % s)
assert file_p == msg_context.get_file("geometry_msgs/%s" % s)
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, "sensor_msgs/Imu", search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, "sensor_msgs", "msg", "Imu.msg")
assert file_p == msg_context.get_file("sensor_msgs/Imu")
val = msg_context.get_depends("sensor_msgs/Imu")
assert set(["std_msgs/Header", "geometry_msgs/Quaternion", "geometry_msgs/Vector3"]) == set(val), val
for s in ["Header"]:
file_p = os.path.join(test_d, "std_msgs", "msg", "%s.msg" % s)
assert file_p == msg_context.get_file("std_msgs/%s" % s)
for s in ["Quaternion", "Vector3"]:
file_p = os.path.join(geometry_d, "%s.msg" % s)
assert file_p == msg_context.get_file("geometry_msgs/%s" % s)
def test_load_depends_msg():
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_depends, MsgNotFound, load_srv_by_type
test_d = get_test_dir()
geometry_d = os.path.join(test_d, "geometry_msgs", "msg")
msg_search_path = {
"test_ros": os.path.join(test_d, "test_ros", "msg"),
"std_msgs": os.path.join(test_d, "std_msgs", "msg"),
"geometry_msgs": geometry_d,
"sensor_msgs": os.path.join(test_d, "sensor_msgs", "msg"),
"invalid": os.path.join(test_d, "invalid", "msg"),
}
# Test not found
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, "invalid/BadDepend", msg_search_path)
try:
load_depends(msg_context, root_spec, msg_search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
root_spec = load_msg_by_type(msg_context, "invalid/BadLocalDepend", msg_search_path)
try:
load_depends(msg_context, root_spec, msg_search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
# Test with msgs
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, "geometry_msgs/PoseStamped", msg_search_path)
load_depends(msg_context, root_spec, msg_search_path)
file_p = os.path.join(test_d, "geometry_msgs", "msg", "PoseStamped.msg")
assert file_p == msg_context.get_file("geometry_msgs/PoseStamped")
val = msg_context.get_depends("geometry_msgs/PoseStamped")
assert set(["std_msgs/Header", "geometry_msgs/Pose", "geometry_msgs/Point", "geometry_msgs/Quaternion"]) == set(
val
), val
for s in ["Header"]:
file_p = os.path.join(test_d, "std_msgs", "msg", "%s.msg" % s)
assert file_p == msg_context.get_file("std_msgs/%s" % s)
for s in ["Pose", "Point", "Quaternion"]:
file_p = os.path.join(geometry_d, "%s.msg" % s)
assert file_p == msg_context.get_file("geometry_msgs/%s" % s)
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, "sensor_msgs/Imu", msg_search_path)
load_depends(msg_context, root_spec, msg_search_path)
file_p = os.path.join(test_d, "sensor_msgs", "msg", "Imu.msg")
assert file_p == msg_context.get_file("sensor_msgs/Imu")
val = msg_context.get_depends("sensor_msgs/Imu")
assert set(["std_msgs/Header", "geometry_msgs/Quaternion", "geometry_msgs/Vector3"]) == set(val), val
for s in ["Header"]:
file_p = os.path.join(test_d, "std_msgs", "msg", "%s.msg" % s)
assert file_p == msg_context.get_file("std_msgs/%s" % s)
for s in ["Quaternion", "Vector3"]:
file_p = os.path.join(geometry_d, "%s.msg" % s)
assert file_p == msg_context.get_file("geometry_msgs/%s" % s)
def test_load_depends_msg():
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_depends, MsgNotFound, load_srv_by_type
test_d = get_test_dir()
geometry_d = os.path.join(test_d, 'geometry_msgs', 'msg')
msg_search_path = {
'test_ros': [ os.path.join(test_d, 'test_ros', 'msg') ],
'std_msgs': [ os.path.join(test_d, 'std_msgs', 'msg') ],
'geometry_msgs': [ geometry_d ],
'sensor_msgs': [ os.path.join(test_d, 'sensor_msgs', 'msg') ],
'invalid': [ os.path.join(test_d, 'invalid', 'msg') ],
}
# Test not found
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'invalid/BadDepend', msg_search_path)
try:
load_depends(msg_context, root_spec, msg_search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
root_spec = load_msg_by_type(msg_context, 'invalid/BadLocalDepend', msg_search_path)
try:
load_depends(msg_context, root_spec, msg_search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
# Test with msgs
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'geometry_msgs/PoseStamped', msg_search_path)
load_depends(msg_context, root_spec, msg_search_path)
file_p = os.path.join(test_d, 'geometry_msgs', 'msg', 'PoseStamped.msg')
assert file_p == msg_context.get_file('geometry_msgs/PoseStamped')
val = msg_context.get_all_depends('geometry_msgs/PoseStamped')
assert set(['std_msgs/Header', 'geometry_msgs/Pose', 'geometry_msgs/Point', 'geometry_msgs/Quaternion']) == set(val), val
val = msg_context.get_depends('geometry_msgs/PoseStamped')
assert set(['std_msgs/Header', 'geometry_msgs/Pose']) == set(val), val
for s in ['Header']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
for s in ['Pose', 'Point', 'Quaternion']:
file_p = os.path.join(geometry_d, '%s.msg'%s)
assert file_p == msg_context.get_file('geometry_msgs/%s'%s)
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'sensor_msgs/Imu', msg_search_path)
load_depends(msg_context, root_spec, msg_search_path)
file_p = os.path.join(test_d, 'sensor_msgs', 'msg', 'Imu.msg')
assert file_p == msg_context.get_file('sensor_msgs/Imu')
val = msg_context.get_depends('sensor_msgs/Imu')
assert set(['std_msgs/Header', 'geometry_msgs/Quaternion', 'geometry_msgs/Vector3']) == set(val), val
for s in ['Header']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
for s in ['Quaternion', 'Vector3']:
file_p = os.path.join(geometry_d, '%s.msg'%s)
assert file_p == msg_context.get_file('geometry_msgs/%s'%s)
def test_load_depends_msg():
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_depends, MsgNotFound, load_srv_by_type
test_d = get_test_dir()
geometry_d = os.path.join(test_d, 'geometry_msgs', 'msg')
msg_search_path = {
'test_ros': [ os.path.join(test_d, 'test_ros', 'msg') ],
'std_msgs': [ os.path.join(test_d, 'std_msgs', 'msg') ],
'geometry_msgs': [ geometry_d ],
'sensor_msgs': [ os.path.join(test_d, 'sensor_msgs', 'msg') ],
'invalid': [ os.path.join(test_d, 'invalid', 'msg') ],
}
# Test not found
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'invalid/BadDepend', msg_search_path)
try:
load_depends(msg_context, root_spec, msg_search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
root_spec = load_msg_by_type(msg_context, 'invalid/BadLocalDepend', msg_search_path)
try:
load_depends(msg_context, root_spec, msg_search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
# Test with msgs
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'geometry_msgs/PoseStamped', msg_search_path)
load_depends(msg_context, root_spec, msg_search_path)
file_p = os.path.join(test_d, 'geometry_msgs', 'msg', 'PoseStamped.msg')
assert file_p == msg_context.get_file('geometry_msgs/PoseStamped')
val = msg_context.get_all_depends('geometry_msgs/PoseStamped')
assert set(['std_msgs/Header', 'geometry_msgs/Pose', 'geometry_msgs/Point', 'geometry_msgs/Quaternion']) == set(val), val
val = msg_context.get_depends('geometry_msgs/PoseStamped')
assert set(['std_msgs/Header', 'geometry_msgs/Pose']) == set(val), val
for s in ['Header']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
for s in ['Pose', 'Point', 'Quaternion']:
file_p = os.path.join(geometry_d, '%s.msg'%s)
assert file_p == msg_context.get_file('geometry_msgs/%s'%s)
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'sensor_msgs/Imu', msg_search_path)
load_depends(msg_context, root_spec, msg_search_path)
file_p = os.path.join(test_d, 'sensor_msgs', 'msg', 'Imu.msg')
assert file_p == msg_context.get_file('sensor_msgs/Imu')
val = msg_context.get_depends('sensor_msgs/Imu')
assert set(['std_msgs/Header', 'geometry_msgs/Quaternion', 'geometry_msgs/Vector3']) == set(val), val
for s in ['Header']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
for s in ['Quaternion', 'Vector3']:
file_p = os.path.join(geometry_d, '%s.msg'%s)
assert file_p == msg_context.get_file('geometry_msgs/%s'%s)
def test_load_msg_depends_stamped():
#TODO: should there just be a 'load_msg, implicit=True?'
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_msg_depends
test_d = get_test_dir()
geometry_d = os.path.join(test_d, 'geometry_msgs', 'msg')
search_path = {
'test_ros': os.path.join(test_d, 'test_ros', 'msg'),
'std_msgs': os.path.join(test_d, 'std_msgs', 'msg'),
'geometry_msgs': geometry_d,
'sensor_msgs': os.path.join(test_d, 'sensor_msgs', 'msg'),
}
# Test with Stamped and deeper hierarchies, Header
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'geometry_msgs/PoseStamped', search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, 'geometry_msgs', 'msg', 'PoseStamped.msg')
assert file_p == msg_context.get_file('geometry_msgs/PoseStamped')
val = msg_context.get_depends('geometry_msgs/PoseStamped')
assert set(['std_msgs/Header', 'geometry_msgs/Pose', 'geometry_msgs/Point', 'geometry_msgs/Quaternion']) == set(val), val
for s in ['Header']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
for s in ['Pose', 'Point', 'Quaternion']:
file_p = os.path.join(geometry_d, '%s.msg'%s)
assert file_p == msg_context.get_file('geometry_msgs/%s'%s)
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'geometry_msgs/TwistWithCovarianceStamped', search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, 'geometry_msgs', 'msg', 'TwistWithCovarianceStamped.msg')
assert file_p == msg_context.get_file('geometry_msgs/TwistWithCovarianceStamped')
val = msg_context.get_depends('geometry_msgs/TwistWithCovarianceStamped')
assert set(['std_msgs/Header', 'geometry_msgs/TwistWithCovariance', 'geometry_msgs/Twist', 'geometry_msgs/Vector3']) == set(val), val
for s in ['Header']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
for s in ['TwistWithCovariance', 'Twist', 'Vector3']:
file_p = os.path.join(geometry_d, '%s.msg'%s)
assert file_p == msg_context.get_file('geometry_msgs/%s'%s)
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'sensor_msgs/Imu', search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, 'sensor_msgs', 'msg', 'Imu.msg')
assert file_p == msg_context.get_file('sensor_msgs/Imu')
val = msg_context.get_depends('sensor_msgs/Imu')
assert set(['std_msgs/Header', 'geometry_msgs/Quaternion', 'geometry_msgs/Vector3']) == set(val), val
for s in ['Header']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
for s in ['Quaternion', 'Vector3']:
file_p = os.path.join(geometry_d, '%s.msg'%s)
assert file_p == msg_context.get_file('geometry_msgs/%s'%s)
def load_all_subtypes(rosmsg_types):
"""
Args:
rosmsg_types: List of ROS message types
Return:
Gets all the subtypes from a list of ROS message types and adds them to the GLOBAL_TYPE_LIST
"""
if NO_SUBTYPES:
print "WARNING: --no-subtypes selected. Not generating subtypes"
return
print "Gathering subtypes for %d ROS message types" % len(rosmsg_types)
msg_paths = get_rosmsg_paths(rosmsg_types)
pkg_paths = get_rospkg_paths()
for msgtype in rosmsg_types:
# Should be iterating this types subtypes.
msg_context = msg_loader.MsgContext()
msgspec = msg_loader.load_msg_by_type(msg_context, msgtype, pkg_paths)
for t in msgspec.types:
get_subtypes(t, msg_paths, pkg_paths)
def test_complex_serializer_generator():
from genmsg.msg_loader import load_msg_by_type
from genpy.generator import complex_serializer_generator, MsgGenerationException, reset_var
array_d = os.path.join(get_test_dir(), 'array')
complex_d = os.path.join(get_test_dir(), 'complex')
# generator tests are mainly tripwires/coverage tests
# array_serializer_generator(msg_context, package, type_, name, serialize, is_numpy):
msg_context = MsgContext.create_default()
# load in some objects
search_path = {'foo': [array_d]}
load_msg_by_type(msg_context, 'foo/Object', search_path)
load_msg_by_type(msg_context, 'foo/ObjectArray', search_path)
serialize = True
is_numpy = False
reset_var()
result = complex_serializer_generator(msg_context, 'foo', 'foo/Object',
'data', serialize, is_numpy)
compare_file(complex_d, 'object_ser.txt', result)
reset_var()
result = complex_serializer_generator(msg_context, 'foo', 'foo/Object[]',
'data', serialize, is_numpy)
compare_file(array_d, 'object_varlen_ser.txt', result)
reset_var()
result = complex_serializer_generator(msg_context, 'foo', 'foo/Object[3]',
'data', serialize, is_numpy)
compare_file(array_d, 'object_fixed_ser.txt', result)
serialize = False
reset_var()
result = complex_serializer_generator(msg_context, 'foo', 'foo/Object[]',
'data', serialize, is_numpy)
compare_file(array_d, 'object_varlen_deser.txt', result)
reset_var()
result = complex_serializer_generator(msg_context, 'foo', 'foo/Object[3]',
'data', serialize, is_numpy)
compare_file(array_d, 'object_fixed_deser.txt', result)
try:
result = complex_serializer_generator(msg_context, 'foo', 'bad/Object',
'data', serialize, is_numpy)
exhaust(result)
assert False, 'should have raised'
except MsgGenerationException:
pass
def test_complex_serializer_generator():
from genmsg.msg_loader import load_msg_by_type
from genpy.generator import complex_serializer_generator, MsgGenerationException, reset_var
array_d = os.path.join(get_test_dir(), 'array')
complex_d = os.path.join(get_test_dir(), 'complex')
# generator tests are mainly tripwires/coverage tests
#array_serializer_generator(msg_context, package, type_, name, serialize, is_numpy):
msg_context = MsgContext.create_default()
# load in some objects
search_path = {'foo': [array_d]}
load_msg_by_type(msg_context, 'foo/Object', search_path)
load_msg_by_type(msg_context, 'foo/ObjectArray', search_path)
serialize = True
is_numpy = False
reset_var()
result = complex_serializer_generator(msg_context, 'foo', 'foo/Object', 'data', serialize, is_numpy)
compare_file(complex_d, 'object_ser.txt', result)
reset_var()
result = complex_serializer_generator(msg_context, 'foo', 'foo/Object[]', 'data', serialize, is_numpy)
compare_file(array_d, 'object_varlen_ser.txt', result)
reset_var()
result = complex_serializer_generator(msg_context, 'foo', 'foo/Object[3]', 'data', serialize, is_numpy)
compare_file(array_d, 'object_fixed_ser.txt', result)
serialize = False
reset_var()
result = complex_serializer_generator(msg_context, 'foo', 'foo/Object[]', 'data', serialize, is_numpy)
compare_file(array_d, 'object_varlen_deser.txt', result)
reset_var()
result = complex_serializer_generator(msg_context, 'foo', 'foo/Object[3]', 'data', serialize, is_numpy)
compare_file(array_d, 'object_fixed_deser.txt', result)
try:
result = complex_serializer_generator(msg_context, 'foo', 'bad/Object', 'data', serialize, is_numpy)
exhaust(result)
assert False, "should have raised"
except MsgGenerationException:
pass
def test_load_msg_depends():
# TODO: should there just be a 'load_msg, implicit=True?'
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_msg_depends, MsgNotFound
test_d = get_test_dir()
search_path = {
"test_ros": os.path.join(test_d, "test_ros", "msg"),
"std_msgs": os.path.join(test_d, "std_msgs", "msg"),
"geometry_msgs": os.path.join(test_d, "geometry_msgs", "msg"),
"sensor_msgs": os.path.join(test_d, "sensor_msgs", "msg"),
"invalid": os.path.join(test_d, "invalid", "msg"),
}
# Test not found
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, "invalid/BadDepend", search_path)
try:
load_msg_depends(msg_context, root_spec, search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
root_spec = load_msg_by_type(msg_context, "invalid/BadLocalDepend", search_path)
try:
load_msg_depends(msg_context, root_spec, search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, "std_msgs/Int32", search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, "std_msgs", "msg", "Int32.msg")
assert file_p == msg_context.get_file("std_msgs/Int32")
assert [] == msg_context.get_depends("std_msgs/Int32")
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, "std_msgs/Header", search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, "std_msgs", "msg", "Header.msg")
assert file_p == msg_context.get_file("std_msgs/Header")
assert [] == msg_context.get_depends("std_msgs/Header")
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, "Header", search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, "std_msgs", "msg", "Header.msg")
assert file_p == msg_context.get_file("std_msgs/Header")
assert [] == msg_context.get_depends("std_msgs/Header")
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, "std_msgs/Int32MultiArray", search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, "std_msgs", "msg", "Int32MultiArray.msg")
assert file_p == msg_context.get_file("std_msgs/Int32MultiArray")
val = msg_context.get_depends("std_msgs/Int32MultiArray")
assert 2 == len(val)
assert set(["std_msgs/MultiArrayLayout", "std_msgs/MultiArrayDimension"]) == set(val), val
for s in ["MultiArrayLayout", "MultiArrayDimension"]:
file_p = os.path.join(test_d, "std_msgs", "msg", "%s.msg" % s)
assert file_p == msg_context.get_file("std_msgs/%s" % s)
def test_load_msg_depends():
#TODO: should there just be a 'load_msg, implicit=True?'
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_msg_depends, MsgNotFound
test_d = get_test_dir()
search_path = {
'test_ros': os.path.join(test_d, 'test_ros', 'msg'),
'std_msgs': os.path.join(test_d, 'std_msgs', 'msg'),
'geometry_msgs': os.path.join(test_d, 'geometry_msgs', 'msg'),
'sensor_msgs': os.path.join(test_d, 'sensor_msgs', 'msg'),
'invalid': os.path.join(test_d, 'invalid', 'msg'),
}
# Test not found
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'invalid/BadDepend', search_path)
try:
load_msg_depends(msg_context, root_spec, search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
root_spec = load_msg_by_type(msg_context, 'invalid/BadLocalDepend', search_path)
try:
load_msg_depends(msg_context, root_spec, search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'std_msgs/Int32', search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, 'std_msgs', 'msg', 'Int32.msg')
assert file_p == msg_context.get_file('std_msgs/Int32')
assert [] == msg_context.get_depends('std_msgs/Int32')
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'std_msgs/Header', search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, 'std_msgs', 'msg', 'Header.msg')
assert file_p == msg_context.get_file('std_msgs/Header')
assert [] == msg_context.get_depends('std_msgs/Header')
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'Header', search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, 'std_msgs', 'msg', 'Header.msg')
assert file_p == msg_context.get_file('std_msgs/Header')
assert [] == msg_context.get_depends('std_msgs/Header')
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'std_msgs/Int32MultiArray', search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, 'std_msgs', 'msg', 'Int32MultiArray.msg')
assert file_p == msg_context.get_file('std_msgs/Int32MultiArray')
val = msg_context.get_depends('std_msgs/Int32MultiArray')
assert 2 == len(val)
assert set(['std_msgs/MultiArrayLayout', 'std_msgs/MultiArrayDimension']) == set(val), val
for s in ['MultiArrayLayout', 'MultiArrayDimension']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
def test_serialize_fn_generator():
from genmsg.msg_loader import load_msg_by_type
from genpy.generator import serialize_fn_generator, reset_var
array_d = os.path.join(get_test_dir(), 'array')
complex_d = os.path.join(get_test_dir(), 'complex')
# generator tests are mainly tripwires/coverage tests
# array_serializer_generator(msg_context, package, type_, name, serialize, is_numpy):
msg_context = MsgContext.create_default()
# load in some objects
search_path = {'foo': [array_d]}
object_spec = load_msg_by_type(msg_context, 'foo/Object', search_path)
object_array_spec = load_msg_by_type(msg_context, 'foo/ObjectArray', search_path)
is_numpy = False
reset_var()
result = serialize_fn_generator(msg_context, object_spec, is_numpy)
compare_file(complex_d, 'object_ser_full.txt', result)
reset_var()
result = serialize_fn_generator(msg_context, object_array_spec, is_numpy)
compare_file(array_d, 'object_varlen_ser_full.txt', result)
reset_var()
def test_serialize_fn_generator():
from genmsg.msg_loader import load_msg_by_type
from genpy.generator import serialize_fn_generator, reset_var
array_d = os.path.join(get_test_dir(), 'array')
complex_d = os.path.join(get_test_dir(), 'complex')
# generator tests are mainly tripwires/coverage tests
#array_serializer_generator(msg_context, package, type_, name, serialize, is_numpy):
msg_context = MsgContext.create_default()
# load in some objects
search_path = {'foo': [array_d]}
object_spec = load_msg_by_type(msg_context, 'foo/Object', search_path)
object_array_spec = load_msg_by_type(msg_context, 'foo/ObjectArray', search_path)
is_numpy = False
reset_var()
result = serialize_fn_generator(msg_context, object_spec, is_numpy)
compare_file(complex_d, 'object_ser_full.txt', result)
reset_var()
result = serialize_fn_generator(msg_context, object_array_spec, is_numpy)
compare_file(array_d, 'object_varlen_ser_full.txt', result)
reset_var()
def get_subtypes(msg_type, msg_paths, pkg_paths):
"""
Given a ROS type, get all of its subtypes and populate it within the GLOBAL_TYPES_LIST. Note you shouldn't use
this function outside of this file. :)
Args:
msg_type: Type to recurse into
msg_paths: Path to /msg directories on your system
pkg_paths: Path to ROS packages on the system
Return:
None
"""
# We don't want to recurse into atomic types.
pkg = msg_type.split('/')[0]
m = get_base_type(msg_type)
qual_type = pkg + "/" + m
if m in msgs.BUILTIN_TYPES:
#print "MSG_TYPE: %s is BUILTIN TYPE. IGNORING" % m
return 1
elif qual_type in GLOBAL_TYPES_LIST:
#print "MSG_TYPE: %s ALREADY LOADED. IGNORING." % qual_type
return 1
elif qual_type is None:
#print "MSG_TYPE: None"
return 1
GLOBAL_TYPES_LIST.append(qual_type)
msg_context = msg_loader.MsgContext()
msgspec = msg_loader.load_msg_by_type(msg_context, qual_type, pkg_paths)
print "Adding type %s to processing list" % qual_type
if msgspec.types is not None:
if len(msgspec.types):
for msg_type in msgspec.types:
#if msg_type.endswith(']'):
# msg_type = msg_type.split('[')[0]
pkg = msg_type.split('/')[0]
m = get_base_type(msg_type)
if (m in GLOBAL_BLACKLIST) or (pkg in GLOBAL_BLACKLIST):
print "WARNING! %s is listed in the global blacklist but is a requirement for %s" % (m, msg_type)
get_subtypes(msg_type, msg_paths, pkg_paths)
def generate_schema(message_type, pkg_paths, directory_path=""):
"""
Generates a schema for a given ROS message type.
Args:
message_type: The ROS message type in format package/Type
pkg_paths: ROS Package Paths
directory_path: Output directory path
Return:
None
"""
# What do we need from a message_type? We need its MsgSpec/MsgContext.
msg_context = msg_loader.MsgContext()
msgspec = msg_loader.load_msg_by_type(msg_context, message_type, pkg_paths)
variables = get_schema_variables_from_msgspec(msgspec) # DONE
imports = get_schema_imports_from_msgspec(msgspec) # DONE
hex_id = get_random_hex_id(); # Done
template = resolve_schema(msgspec.short_name, variables, imports, hex_id)
outdir = directory_path
if not os.path.exists(outdir):
os.mkdir(outdir)
type_dirname = message_type.split('/')[0]
filename = msgspec.short_name + ".capnp"
filepath = outdir + "/" + filename
#if not os.path.isdir(filepath):
# os.mkdir(filepath)
# Disabled for now until I figure out how to handle the Capnp imports.
#filenamepath = filepath + "/" + filename
with open(filepath, 'w') as ostream:
print "Generating schema (.capnp) file for %s " % message_type
ostream.write(template)
ostream.close()
return
def test_load_msg_by_type():
from genmsg.msg_loader import load_msg_by_type, MsgContext, MsgNotFound
test_d = get_test_dir()
geometry_d = os.path.join(test_d, 'geometry_msgs', 'msg')
test_ros_dir = os.path.join(test_d, 'test_ros', 'msg')
test_string_path = os.path.join(test_ros_dir, 'TestString.msg')
search_path = {
'test_ros': [test_ros_dir],
'geometry_msgs': [geometry_d],
}
msg_context = MsgContext.create_default()
msgspec = load_msg_by_type(msg_context, 'test_ros/TestString', search_path)
_validate_TestString(msgspec)
# supposed to register
assert msg_context.is_registered('test_ros/TestString'), msg_context
# test invalid search path
try:
load_msg_by_type(msg_context, 'test_ros/TestString',
[test_string_path])
assert False, "should have raised"
except ValueError:
pass
# test not found
try:
load_msg_by_type(msg_context, 'test_ros/Fake', search_path)
assert False, "should have raised"
except MsgNotFound:
pass
# test all the known geometry msgs
test_d = get_test_dir()
for f in os.listdir(geometry_d):
if f.endswith('.msg'):
short = f[:-4]
msg_type = 'geometry_msgs/%s' % short
spec = load_msg_by_type(msg_context, msg_type, search_path)
assert spec is not None
assert spec.package == 'geometry_msgs'
assert spec.full_name == msg_type
assert spec.short_name == short
with open(os.path.join(geometry_d, f)) as file_h:
assert spec.text == file_h.read()
# all types with 'Stamped' in name have headers
if 'Stamped' in f:
assert spec.has_header(), msg_type
def test_load_msg_by_type():
from genmsg.msg_loader import load_msg_by_type, MsgContext, MsgNotFound
test_d = get_test_dir()
geometry_d = os.path.join(test_d, 'geometry_msgs', 'msg')
test_ros_dir = os.path.join(test_d, 'test_ros', 'msg')
test_string_path = os.path.join(test_ros_dir, 'TestString.msg')
search_path = {
'test_ros': [ test_ros_dir ],
'geometry_msgs': [ geometry_d ],
}
msg_context = MsgContext.create_default()
msgspec = load_msg_by_type(msg_context, 'test_ros/TestString', search_path)
_validate_TestString(msgspec)
# supposed to register
assert msg_context.is_registered('test_ros/TestString'), msg_context
# test invalid search path
try:
load_msg_by_type(msg_context, 'test_ros/TestString', [test_string_path])
assert False, "should have raised"
except ValueError:
pass
# test not found
try:
load_msg_by_type(msg_context, 'test_ros/Fake', search_path)
assert False, "should have raised"
except MsgNotFound:
pass
# test all the known geometry msgs
test_d = get_test_dir()
for f in os.listdir(geometry_d):
if f.endswith('.msg'):
short = f[:-4]
msg_type = 'geometry_msgs/%s'%short
spec = load_msg_by_type(msg_context, msg_type, search_path)
assert spec is not None
assert spec.package == 'geometry_msgs'
assert spec.full_name == msg_type
assert spec.short_name == short
with open(os.path.join(geometry_d, f)) as file_h:
assert spec.text == file_h.read()
# all types with 'Stamped' in name have headers
if 'Stamped' in f:
assert spec.has_header(), msg_type
def test_array_serializer_generator():
from genmsg.msg_loader import load_msg_by_type
from genpy.generator import array_serializer_generator, MsgGenerationException, reset_var
d = os.path.join(get_test_dir(), 'array')
# generator tests are mainly tripwires/coverage tests
#array_serializer_generator(msg_context, package, type_, name, serialize, is_numpy):
msg_context = MsgContext.create_default()
# load in some objects
search_path = {'foo': [d]}
load_msg_by_type(msg_context, 'foo/Object', search_path)
load_msg_by_type(msg_context, 'foo/ObjectArray', search_path)
# permutations: var length, unint8
is_numpy = False
serialize = True
result = array_serializer_generator(msg_context, '', 'uint8[]', 'data', serialize, is_numpy)
compare_file(d, 'uint8_varlen_ser.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[]', 'data', serialize, is_numpy)
compare_file(d, 'int16_varlen_ser.txt', result)
result = array_serializer_generator(msg_context, '', 'uint8[8]', 'data', serialize, is_numpy)
compare_file(d, 'uint8_fixed_ser.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[10]', 'data', serialize, is_numpy)
compare_file(d, 'int16_fixed_ser.txt', result)
result = array_serializer_generator(msg_context, '', 'bool[]', 'data', serialize, is_numpy)
compare_file(d, 'bool_varlen_ser.txt', result)
result = array_serializer_generator(msg_context, '', 'bool[3]', 'data', serialize, is_numpy)
compare_file(d, 'bool_fixed_ser.txt', result)
# for 'complex' types have to reset the variable generator
reset_var()
result = array_serializer_generator(msg_context, '', 'string[]', 'data', serialize, is_numpy)
compare_file(d, 'string_varlen_ser.txt', result)
reset_var()
result = array_serializer_generator(msg_context, '', 'string[2]', 'data', serialize, is_numpy)
compare_file(d, 'string_fixed_ser.txt', result)
reset_var()
result = array_serializer_generator(msg_context, 'foo', 'foo/Object[]', 'data', serialize, is_numpy)
compare_file(d, 'object_varlen_ser.txt', result)
reset_var()
result = array_serializer_generator(msg_context, 'foo', 'foo/Object[3]', 'data', serialize, is_numpy)
compare_file(d, 'object_fixed_ser.txt', result)
serialize = False
result = array_serializer_generator(msg_context, '', 'uint8[]', 'data', serialize, is_numpy)
compare_file(d, 'uint8_varlen_deser.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[]', 'data', serialize, is_numpy)
compare_file(d, 'int16_varlen_deser.txt', result)
result = array_serializer_generator(msg_context, '', 'uint8[8]', 'data', serialize, is_numpy)
compare_file(d, 'uint8_fixed_deser.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[10]', 'data', serialize, is_numpy)
compare_file(d, 'int16_fixed_deser.txt', result)
result = array_serializer_generator(msg_context, '', 'bool[]', 'data', serialize, is_numpy)
compare_file(d, 'bool_varlen_deser.txt', result)
result = array_serializer_generator(msg_context, '', 'bool[3]', 'data', serialize, is_numpy)
compare_file(d, 'bool_fixed_deser.txt', result)
# for 'complex' types have to reset the variable generator
reset_var()
result = array_serializer_generator(msg_context, '', 'string[]', 'data', serialize, is_numpy)
compare_file(d, 'string_varlen_deser.txt', result)
reset_var()
result = array_serializer_generator(msg_context, '', 'string[2]', 'data', serialize, is_numpy)
compare_file(d, 'string_fixed_deser.txt', result)
reset_var()
result = array_serializer_generator(msg_context, 'foo', 'foo/Object[]', 'data', serialize, is_numpy)
compare_file(d, 'object_varlen_deser.txt', result)
reset_var()
result = array_serializer_generator(msg_context, 'foo', 'foo/Object[3]', 'data', serialize, is_numpy)
compare_file(d, 'object_fixed_deser.txt', result)
# test w/ bad args
try:
result = array_serializer_generator(msg_context, '', 'uint8', 'data', True, False)
exhaust(result)
assert False, "should have raised"
except MsgGenerationException:
pass
def test_array_serializer_generator():
from genmsg.msg_loader import load_msg_by_type
from genpy.generator import array_serializer_generator, MsgGenerationException, reset_var
d = os.path.join(get_test_dir(), 'array')
# generator tests are mainly tripwires/coverage tests
# array_serializer_generator(msg_context, package, type_, name, serialize, is_numpy):
msg_context = MsgContext.create_default()
# load in some objects
search_path = {'foo': [d]}
load_msg_by_type(msg_context, 'foo/Object', search_path)
load_msg_by_type(msg_context, 'foo/ObjectArray', search_path)
# permutations: var length, unint8
is_numpy = False
serialize = True
result = array_serializer_generator(msg_context, '', 'uint8[]', 'data',
serialize, is_numpy)
compare_file(d, 'uint8_varlen_ser.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[]', 'data',
serialize, is_numpy)
compare_file(d, 'int16_varlen_ser.txt', result)
result = array_serializer_generator(msg_context, '', 'uint8[8]', 'data',
serialize, is_numpy)
compare_file(d, 'uint8_fixed_ser.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[10]', 'data',
serialize, is_numpy)
compare_file(d, 'int16_fixed_ser.txt', result)
result = array_serializer_generator(msg_context, '', 'bool[]', 'data',
serialize, is_numpy)
compare_file(d, 'bool_varlen_ser.txt', result)
result = array_serializer_generator(msg_context, '', 'bool[3]', 'data',
serialize, is_numpy)
compare_file(d, 'bool_fixed_ser.txt', result)
# for 'complex' types have to reset the variable generator
reset_var()
result = array_serializer_generator(msg_context, '', 'string[]', 'data',
serialize, is_numpy)
compare_file(d, 'string_varlen_ser.txt', result)
reset_var()
result = array_serializer_generator(msg_context, '', 'string[2]', 'data',
serialize, is_numpy)
compare_file(d, 'string_fixed_ser.txt', result)
reset_var()
result = array_serializer_generator(msg_context, 'foo', 'foo/Object[]',
'data', serialize, is_numpy)
compare_file(d, 'object_varlen_ser.txt', result)
reset_var()
result = array_serializer_generator(msg_context, 'foo', 'foo/Object[3]',
'data', serialize, is_numpy)
compare_file(d, 'object_fixed_ser.txt', result)
serialize = False
result = array_serializer_generator(msg_context, '', 'uint8[]', 'data',
serialize, is_numpy)
compare_file(d, 'uint8_varlen_deser.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[]', 'data',
serialize, is_numpy)
compare_file(d, 'int16_varlen_deser.txt', result)
result = array_serializer_generator(msg_context, '', 'uint8[8]', 'data',
serialize, is_numpy)
compare_file(d, 'uint8_fixed_deser.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[10]', 'data',
serialize, is_numpy)
compare_file(d, 'int16_fixed_deser.txt', result)
result = array_serializer_generator(msg_context, '', 'bool[]', 'data',
serialize, is_numpy)
compare_file(d, 'bool_varlen_deser.txt', result)
result = array_serializer_generator(msg_context, '', 'bool[3]', 'data',
serialize, is_numpy)
compare_file(d, 'bool_fixed_deser.txt', result)
# for 'complex' types have to reset the variable generator
reset_var()
result = array_serializer_generator(msg_context, '', 'string[]', 'data',
serialize, is_numpy)
compare_file(d, 'string_varlen_deser.txt', result)
reset_var()
result = array_serializer_generator(msg_context, '', 'string[2]', 'data',
serialize, is_numpy)
compare_file(d, 'string_fixed_deser.txt', result)
reset_var()
result = array_serializer_generator(msg_context, 'foo', 'foo/Object[]',
'data', serialize, is_numpy)
compare_file(d, 'object_varlen_deser.txt', result)
reset_var()
result = array_serializer_generator(msg_context, 'foo', 'foo/Object[3]',
'data', serialize, is_numpy)
compare_file(d, 'object_fixed_deser.txt', result)
# test w/ bad args
try:
result = array_serializer_generator(msg_context, '', 'uint8', 'data',
True, False)
exhaust(result)
assert False, 'should have raised'
except MsgGenerationException:
pass
def test_load_msg_depends():
#TODO: should there just be a 'load_msg, implicit=True?'
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_msg_depends, MsgNotFound
test_d = get_test_dir()
search_path = {
'test_ros': [ os.path.join(test_d, 'test_ros', 'msg') ],
'std_msgs': [ os.path.join(test_d, 'std_msgs', 'msg') ],
'geometry_msgs': [ os.path.join(test_d, 'geometry_msgs', 'msg') ],
'sensor_msgs': [ os.path.join(test_d, 'sensor_msgs', 'msg') ],
'invalid': [ os.path.join(test_d, 'invalid', 'msg') ],
}
# Test not found
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'invalid/BadDepend', search_path)
try:
load_msg_depends(msg_context, root_spec, search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
root_spec = load_msg_by_type(msg_context, 'invalid/BadLocalDepend', search_path)
try:
load_msg_depends(msg_context, root_spec, search_path)
assert False, "should have raised MsgNotFound"
except MsgNotFound:
pass
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'std_msgs/Int32', search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, 'std_msgs', 'msg', 'Int32.msg')
assert file_p == msg_context.get_file('std_msgs/Int32')
assert [] == msg_context.get_depends('std_msgs/Int32')
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'std_msgs/Header', search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, 'std_msgs', 'msg', 'Header.msg')
assert file_p == msg_context.get_file('std_msgs/Header')
assert [] == msg_context.get_depends('std_msgs/Header')
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'Header', search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, 'std_msgs', 'msg', 'Header.msg')
assert file_p == msg_context.get_file('std_msgs/Header')
assert [] == msg_context.get_depends('std_msgs/Header')
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'std_msgs/Int32MultiArray', search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, 'std_msgs', 'msg', 'Int32MultiArray.msg')
assert file_p == msg_context.get_file('std_msgs/Int32MultiArray')
val = msg_context.get_all_depends('std_msgs/Int32MultiArray')
assert set(['std_msgs/MultiArrayLayout', 'std_msgs/MultiArrayDimension']) == set(val), val
assert 2 == len(val), val
val = msg_context.get_depends('std_msgs/Int32MultiArray')
assert set(['std_msgs/MultiArrayLayout']) == set(val), val
for s in ['MultiArrayLayout', 'MultiArrayDimension']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
def test_load_msg_depends_stamped():
#TODO: should there just be a 'load_msg, implicit=True?'
from genmsg.msg_loader import MsgContext, load_msg_by_type, load_msg_depends
test_d = get_test_dir()
geometry_d = os.path.join(test_d, 'geometry_msgs', 'msg')
search_path = {
'test_ros': [ os.path.join(test_d, 'test_ros', 'msg') ],
'std_msgs': [ os.path.join(test_d, 'std_msgs', 'msg') ],
'geometry_msgs': [ geometry_d ],
'sensor_msgs': [ os.path.join(test_d, 'sensor_msgs', 'msg') ],
}
# Test with Stamped and deeper hierarchies, Header
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'geometry_msgs/PoseStamped', search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, 'geometry_msgs', 'msg', 'PoseStamped.msg')
assert file_p == msg_context.get_file('geometry_msgs/PoseStamped')
val = msg_context.get_all_depends('geometry_msgs/PoseStamped')
assert set(['std_msgs/Header', 'geometry_msgs/Pose', 'geometry_msgs/Point', 'geometry_msgs/Quaternion']) == set(val), val
val = msg_context.get_depends('geometry_msgs/PoseStamped')
assert set(['std_msgs/Header', 'geometry_msgs/Pose']) == set(val), val
for s in ['Header']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
for s in ['Pose', 'Point', 'Quaternion']:
file_p = os.path.join(geometry_d, '%s.msg'%s)
assert file_p == msg_context.get_file('geometry_msgs/%s'%s)
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'geometry_msgs/TwistWithCovarianceStamped', search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, 'geometry_msgs', 'msg', 'TwistWithCovarianceStamped.msg')
assert file_p == msg_context.get_file('geometry_msgs/TwistWithCovarianceStamped')
val = msg_context.get_all_depends('geometry_msgs/TwistWithCovarianceStamped')
assert set(['std_msgs/Header', 'geometry_msgs/TwistWithCovariance', 'geometry_msgs/Twist', 'geometry_msgs/Vector3']) == set(val), val
val = msg_context.get_depends('geometry_msgs/TwistWithCovarianceStamped')
assert set(['std_msgs/Header', 'geometry_msgs/TwistWithCovariance']) == set(val), val
for s in ['Header']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
for s in ['TwistWithCovariance', 'Twist', 'Vector3']:
file_p = os.path.join(geometry_d, '%s.msg'%s)
assert file_p == msg_context.get_file('geometry_msgs/%s'%s)
msg_context = MsgContext.create_default()
root_spec = load_msg_by_type(msg_context, 'sensor_msgs/Imu', search_path)
load_msg_depends(msg_context, root_spec, search_path)
file_p = os.path.join(test_d, 'sensor_msgs', 'msg', 'Imu.msg')
assert file_p == msg_context.get_file('sensor_msgs/Imu')
val = msg_context.get_all_depends('sensor_msgs/Imu')
assert set(['std_msgs/Header', 'geometry_msgs/Quaternion', 'geometry_msgs/Vector3']) == set(val), val
val = msg_context.get_depends('sensor_msgs/Imu')
assert set(['std_msgs/Header', 'geometry_msgs/Quaternion', 'geometry_msgs/Vector3']) == set(val), val
for s in ['Header']:
file_p = os.path.join(test_d, 'std_msgs', 'msg', '%s.msg'%s)
assert file_p == msg_context.get_file('std_msgs/%s'%s)
for s in ['Quaternion', 'Vector3']:
file_p = os.path.join(geometry_d, '%s.msg'%s)
assert file_p == msg_context.get_file('geometry_msgs/%s'%s)
