def test_assorted_msgs(self):
assortedmsgs = ["geometry_msgs/Pose", "actionlib_msgs/GoalStatus",
"geometry_msgs/WrenchStamped", "stereo_msgs/DisparityImage",
"nav_msgs/OccupancyGrid", "geometry_msgs/Point32", "std_msgs/String",
"trajectory_msgs/JointTrajectoryPoint", "diagnostic_msgs/KeyValue",
"visualization_msgs/InteractiveMarkerUpdate", "nav_msgs/GridCells",
"sensor_msgs/PointCloud2"]
for rostype in assortedmsgs:
inst = ros_loader.get_message_instance(rostype)
msg = c.extract_values(inst)
self.do_test(msg, rostype)
l = loads(dumps(msg))
inst2 = ros_loader.get_message_instance(rostype)
c.populate_instance(msg, inst2)
self.assertEqual(inst, inst2)
def test_assorted_msgs(self):
assortedmsgs = ["geometry_msgs/Pose", "actionlib_msgs/GoalStatus",
"geometry_msgs/WrenchStamped", "stereo_msgs/DisparityImage",
"nav_msgs/OccupancyGrid", "geometry_msgs/Point32", "std_msgs/String",
"trajectory_msgs/JointTrajectoryPoint", "diagnostic_msgs/KeyValue",
"visualization_msgs/InteractiveMarkerUpdate", "nav_msgs/GridCells",
"sensor_msgs/PointCloud2"]
for rostype in assortedmsgs:
inst = ros_loader.get_message_instance(rostype)
msg = c.extract_values(inst)
self.do_test(msg, rostype)
l = loads(dumps(msg))
inst2 = ros_loader.get_message_instance(rostype)
c.populate_instance(msg, inst2)
self.assertEqual(inst, inst2)
def do_test(self, orig_msg, msgtype):
for msg in [orig_msg, loads(dumps(orig_msg))]:
inst = ros_loader.get_message_instance(msgtype)
c.populate_instance(msg, inst)
self.validate_instance(inst)
extracted = c.extract_values(inst)
for msg2 in [extracted, loads(dumps(extracted))]:
self.msgs_equal(msg, msg2)
def get_typedef_full_text(type):
""" Returns the full text (similar to `gendeps --cat`) for the specified message type """
# Get an instance of the service response class and get its typedef
try:
instance = ros_loader.get_message_instance(type)
return instance._full_text
except Exception:
return ""
def do_test(self, orig_msg, msgtype):
for msg in [orig_msg, loads(dumps(orig_msg))]:
inst = ros_loader.get_message_instance(msgtype)
c.populate_instance(msg, inst)
self.validate_instance(inst)
extracted = c.extract_values(inst)
for msg2 in [extracted, loads(dumps(extracted))]:
self.msgs_equal(msg, msg2)
def test_irregular_msgnames(self):
irregular = ["std_msgs//String", "//std_msgs/String",
"/std_msgs//String", "/std_msgs/String", "//std_msgs//String",
"/std_msgs/String/", "//std_msgs//String//", "std_msgs/String/",
"std_msgs//String//"]
for x in irregular:
self.assertNotEqual(ros_loader.get_message_class(x), None)
self.assertNotEqual(ros_loader.get_message_instance(x), None)
def test_irregular_msgnames(self):
irregular = ["std_msgs//String", "//std_msgs/String",
"/std_msgs//String", "/std_msgs/String", "//std_msgs//String",
"/std_msgs/String/", "//std_msgs//String//", "std_msgs/String/",
"std_msgs//String//"]
for x in irregular:
self.assertNotEqual(ros_loader.get_message_class(x), None)
self.assertNotEqual(ros_loader.get_message_instance(x), None)
def do_primitive_test(self, data_value, msgtype):
for msg in [{"data": data_value}, loads(dumps({"data": data_value}))]:
inst = ros_loader.get_message_instance(msgtype)
c.populate_instance(msg, inst)
self.assertEqual(inst.data, data_value)
self.validate_instance(inst)
extracted = c.extract_values(inst)
for msg2 in [extracted, loads(dumps(extracted))]:
self.msgs_equal(msg, msg2)
self.assertEqual(msg["data"], msg2["data"])
self.assertEqual(msg2["data"], inst.data)
def do_primitive_test(self, data_value, msgtype):
for msg in [{"data": data_value}, loads(dumps({"data": data_value}))]:
inst = ros_loader.get_message_instance(msgtype)
c.populate_instance(msg, inst)
self.assertEqual(inst.data, data_value)
self.validate_instance(inst)
extracted = c.extract_values(inst)
for msg2 in [extracted, loads(dumps(extracted))]:
self.msgs_equal(msg, msg2)
self.assertEqual(msg["data"], msg2["data"])
self.assertEqual(msg2["data"], inst.data)
def test_assorted_msgnames(self):
assortedmsgs = ["geometry_msgs/Pose", "actionlib_msgs/GoalStatus",
"geometry_msgs/WrenchStamped", "stereo_msgs/DisparityImage",
"nav_msgs/OccupancyGrid", "geometry_msgs/Point32", "std_msgs/String",
"trajectory_msgs/JointTrajectoryPoint", "diagnostic_msgs/KeyValue",
"visualization_msgs/InteractiveMarkerUpdate", "nav_msgs/GridCells",
"sensor_msgs/PointCloud2"]
for x in assortedmsgs:
self.assertNotEqual(ros_loader.get_message_class(x), None)
inst = ros_loader.get_message_instance(x)
self.assertNotEqual(inst, None)
self.assertEqual(x, inst._type)
def test_assorted_msgnames(self):
assortedmsgs = ["geometry_msgs/Pose", "actionlib_msgs/GoalStatus",
"geometry_msgs/WrenchStamped", "stereo_msgs/DisparityImage",
"nav_msgs/OccupancyGrid", "geometry_msgs/Point32", "std_msgs/String",
"trajectory_msgs/JointTrajectoryPoint", "diagnostic_msgs/KeyValue",
"visualization_msgs/InteractiveMarkerUpdate", "nav_msgs/GridCells",
"sensor_msgs/PointCloud2"]
for x in assortedmsgs:
self.assertNotEqual(ros_loader.get_message_class(x), None)
inst = ros_loader.get_message_instance(x)
self.assertNotEqual(inst, None)
self.assertEqual(x, inst._type)
def test_time_msg_now(self):
msg = {"data": "now"}
msgtype = "std_msgs/Time"
inst = ros_loader.get_message_instance(msgtype)
c.populate_instance(msg, inst)
currenttime = rospy.get_rostime()
self.validate_instance(inst)
extracted = c.extract_values(inst)
print extracted
self.assertIn("data", extracted)
self.assertIn("secs", extracted["data"])
self.assertIn("nsecs", extracted["data"])
self.assertNotEqual(extracted["data"]["secs"], 0)
self.assertLessEqual(extracted["data"]["secs"], currenttime.secs)
self.assertGreaterEqual(currenttime.secs, extracted["data"]["secs"])
def test_time_msg_now(self):
msg = {"data": "now"}
msgtype = "std_msgs/Time"
inst = ros_loader.get_message_instance(msgtype)
c.populate_instance(msg, inst)
currenttime = rospy.get_rostime()
self.validate_instance(inst)
extracted = c.extract_values(inst)
print(extracted)
self.assertIn("data", extracted)
self.assertIn("secs", extracted["data"])
self.assertIn("nsecs", extracted["data"])
self.assertNotEqual(extracted["data"]["secs"], 0)
self.assertLessEqual(extracted["data"]["secs"], currenttime.secs)
self.assertGreaterEqual(currenttime.secs, extracted["data"]["secs"])
def test_std_msgnames(self):
stdmsgs = ["std_msgs/Bool", "std_msgs/Byte", "std_msgs/ByteMultiArray",
"std_msgs/ColorRGBA", "std_msgs/Duration", "std_msgs/Empty",
"std_msgs/Float32", "std_msgs/Float32MultiArray", "std_msgs/Float64",
"std_msgs/Header", "std_msgs/Int16", "std_msgs/Int16MultiArray",
"std_msgs/Int32", "std_msgs/Int32MultiArray", "std_msgs/Int64",
"std_msgs/Int64MultiArray", "std_msgs/Int8", "std_msgs/Int8MultiArray",
"std_msgs/MultiArrayDimension", "std_msgs/MultiArrayLayout",
"std_msgs/String", "std_msgs/Time", "std_msgs/UInt16",
"std_msgs/UInt16MultiArray", "std_msgs/UInt32MultiArray",
"std_msgs/UInt64MultiArray", "std_msgs/UInt32", "std_msgs/UInt64",
"std_msgs/UInt8", "std_msgs/UInt8MultiArray"]
for x in stdmsgs:
self.assertNotEqual(ros_loader.get_message_class(x), None)
inst = ros_loader.get_message_instance(x)
self.assertNotEqual(inst, None)
self.assertEqual(x, inst._type)
def test_std_msgnames(self):
stdmsgs = ["std_msgs/Bool", "std_msgs/Byte", "std_msgs/ByteMultiArray",
"std_msgs/ColorRGBA", "std_msgs/Duration", "std_msgs/Empty",
"std_msgs/Float32", "std_msgs/Float32MultiArray", "std_msgs/Float64",
"std_msgs/Header", "std_msgs/Int16", "std_msgs/Int16MultiArray",
"std_msgs/Int32", "std_msgs/Int32MultiArray", "std_msgs/Int64",
"std_msgs/Int64MultiArray", "std_msgs/Int8", "std_msgs/Int8MultiArray",
"std_msgs/MultiArrayDimension", "std_msgs/MultiArrayLayout",
"std_msgs/String", "std_msgs/Time", "std_msgs/UInt16",
"std_msgs/UInt16MultiArray", "std_msgs/UInt32MultiArray",
"std_msgs/UInt64MultiArray", "std_msgs/UInt32", "std_msgs/UInt64",
"std_msgs/UInt8", "std_msgs/UInt8MultiArray"]
for x in stdmsgs:
self.assertNotEqual(ros_loader.get_message_class(x), None)
inst = ros_loader.get_message_instance(x)
self.assertNotEqual(inst, None)
self.assertEqual(x, inst._type)
def get_typedef(type):
""" A typedef is a dict containing the following fields:
- string type
- string[] fieldnames
- string[] fieldtypes
- int[] fieldarraylen
- string[] examples
get_typedef will return a typedef dict for the specified message type """
if type in atomics:
# Atomics don't get a typedef
return None
if type in specials:
# Specials get their type def mocked up
return _get_special_typedef(type)
# Fetch an instance and return its typedef
instance = ros_loader.get_message_instance(type)
return _get_typedef(instance)
def get_typedef(type):
""" A typedef is a dict containing the following fields:
- string type
- string[] fieldnames
- string[] fieldtypes
- int[] fieldarraylen
- string[] examples
get_typedef will return a typedef dict for the specified message type """
if type in atomics:
# Atomics don't get a typedef
return None
if type in specials:
# Specials get their type def mocked up
return _get_special_typedef(type)
# Fetch an instance and return its typedef
instance = ros_loader.get_message_instance(type)
return _get_typedef(instance)
def _to_inst(msg, rostype, roottype, inst=None, stack=[]):
# Check if it's uint8[], and if it's a string, try to b64decode
if rostype in ros_binary_types:
return _to_binary_inst(msg)
# Check the type for time or rostime
if rostype in ros_time_types:
return _to_time_inst(msg, rostype, inst)
# Check to see whether this is a primitive type
if rostype in ros_primitive_types:
return _to_primitive_inst(msg, rostype, roottype, stack)
# Check whether we're dealing with a list type
if inst is not None and type(inst) in list_types:
return _to_list_inst(msg, rostype, roottype, inst, stack)
# Otherwise, the type has to be a full ros msg type, so msg must be a dict
if inst is None:
inst = ros_loader.get_message_instance(rostype)
return _to_object_inst(msg, rostype, roottype, inst, stack)
def _to_inst(msg, rostype, roottype, inst=None, stack=[]):
# Check if it's uint8[], and if it's a string, try to b64decode
for binary_type, expression in ros_binary_types_list_braces:
if expression.sub(binary_type, rostype) in ros_binary_types:
return _to_binary_inst(msg)
# Check the type for time or rostime
if rostype in ros_time_types:
return _to_time_inst(msg, rostype, inst)
# Check to see whether this is a primitive type
if rostype in ros_primitive_types:
return _to_primitive_inst(msg, rostype, roottype, stack)
# Check whether we're dealing with a list type
if inst is not None and type(inst) in list_types:
return _to_list_inst(msg, rostype, roottype, inst, stack)
# Otherwise, the type has to be a full ros msg type, so msg must be a dict
if inst is None:
inst = ros_loader.get_message_instance(rostype)
return _to_object_inst(msg, rostype, roottype, inst, stack)
def test_int8_msg(rostype, data):
msg = {"data": data}
inst = ros_loader.get_message_instance(rostype)
c.populate_instance(msg, inst)
self.validate_instance(inst)
return inst.data
def test_int8_msg(rostype, data):
msg = {"data": data}
inst = ros_loader.get_message_instance(rostype)
c.populate_instance(msg, inst)
self.validate_instance(inst)
return inst.data
