def test_invalid_action_specification(): with pytest.raises(InvalidActionSpecification): parse_action_string('pkg', 'Foo', '') # too few action separators (---) with pytest.raises(InvalidActionSpecification): parse_action_string('pkg', 'Foo', 'bool foo\n---\nint8 bar')
def test_invalid_action_specification(): with pytest.raises(InvalidActionSpecification): parse_action_string('pkg', 'Foo', '') # too few action separators (---) with pytest.raises(InvalidActionSpecification): parse_action_string('pkg', 'Foo', 'bool foo\n---\nint8 bar')
def test_action_implicit_field_collision(): # uuid collision on send goal service with pytest.raises(ImplicitFieldCollision): parse_action_string( 'pkg', 'Foo', 'bool foo\nstring action_goal_id\n---\nint8 bar\n---\nbool foo') # status collision on get result service with pytest.raises(ImplicitFieldCollision): parse_action_string( 'pkg', 'Foo', 'bool foo\n---\nint8 bar\nstring action_status\n---\nbool foo')
def test_valid_action_string1(): spec = parse_action_string('pkg', 'Foo', 'bool foo\n---\nint8 bar\n---\nbool foo') goal_service = spec.goal_service result_service = spec.result_service feedback_msg = spec.feedback # Goal service checks assert goal_service.pkg_name == 'pkg' assert goal_service.srv_name == 'Foo_Goal' assert goal_service.request.base_type.pkg_name == 'pkg' assert goal_service.request.base_type.type == 'Foo_Goal_Request' assert len(goal_service.request.fields) == 2 # including implicit uuid assert len(goal_service.request.constants) == 0 assert goal_service.response.base_type.pkg_name == 'pkg' assert goal_service.response.base_type.type == 'Foo_Goal_Response' assert len(goal_service.response.fields) == 2 assert len(goal_service.response.constants) == 0 # Result service checks assert result_service.pkg_name == 'pkg' assert result_service.srv_name == 'Foo_Result' assert result_service.request.base_type.pkg_name == 'pkg' assert result_service.request.base_type.type == 'Foo_Result_Request' assert len(result_service.request.fields) == 1 # implicit uuid assert len(result_service.request.constants) == 0 assert result_service.response.base_type.pkg_name == 'pkg' assert result_service.response.base_type.type == 'Foo_Result_Response' assert len(result_service.response.fields) == 2 assert len(result_service.response.constants) == 0 # Feedback message checks assert len(feedback_msg.fields) == 2 assert feedback_msg.fields[0].type.type == 'uint8' assert feedback_msg.fields[0].name == 'uuid' assert feedback_msg.fields[1].type.type == 'bool' assert feedback_msg.fields[1].name == 'foo' assert len(feedback_msg.constants) == 0
def test_valid_action_string3(): spec = parse_action_string( 'pkg', 'Foo', 'bool foo\nstring status\n---\nbool FOO=1\nint8 bar\n---\nbool BAR=1\nbool foo') # Goal checks assert spec.goal.base_type.pkg_name == 'pkg' assert spec.goal.msg_name == 'Foo_Goal' assert len(spec.goal.fields) == 2 assert len(spec.goal.constants) == 0 # Result checks assert spec.result.base_type.pkg_name == 'pkg' assert spec.result.msg_name == 'Foo_Result' assert len(spec.result.fields) == 1 assert len(spec.result.constants) == 1 assert spec.result.constants[0].type == 'bool' assert spec.result.constants[0].name == 'FOO' assert spec.result.constants[0].value # Feedback checks assert len(spec.feedback.fields) == 1 assert spec.feedback.fields[0].type.type == 'bool' assert spec.feedback.fields[0].name == 'foo' assert len(spec.feedback.constants) == 1 assert spec.feedback.constants[0].type == 'bool' assert spec.feedback.constants[0].name == 'BAR' assert spec.feedback.constants[0].value
def test_valid_action_string3(): spec = parse_action_string( 'pkg', 'Foo', 'bool foo\nstring status\n---\nbool FOO=1\nint8 bar\n---\nbool BAR=1\nbool foo' ) # Goal checks assert spec.goal.base_type.pkg_name == 'pkg' assert spec.goal.msg_name == 'Foo_Goal' assert len(spec.goal.fields) == 2 assert len(spec.goal.constants) == 0 # Result checks assert spec.result.base_type.pkg_name == 'pkg' assert spec.result.msg_name == 'Foo_Result' assert len(spec.result.fields) == 1 assert len(spec.result.constants) == 1 assert spec.result.constants[0].type == 'bool' assert spec.result.constants[0].name == 'FOO' assert spec.result.constants[0].value # Feedback checks assert len(spec.feedback.fields) == 1 assert spec.feedback.fields[0].type.type == 'bool' assert spec.feedback.fields[0].name == 'foo' assert len(spec.feedback.constants) == 1 assert spec.feedback.constants[0].type == 'bool' assert spec.feedback.constants[0].name == 'BAR' assert spec.feedback.constants[0].value
def test_valid_action_string1(): spec = parse_action_string('pkg', 'Foo', 'bool foo\n---\nint8 bar\n---\nbool foo') # Goal checks assert spec.goal.base_type.pkg_name == 'pkg' assert spec.goal.msg_name == 'Foo_Goal' assert len(spec.goal.fields) == 1 assert len(spec.goal.constants) == 0 # Result checks assert spec.result.base_type.pkg_name == 'pkg' assert spec.result.msg_name == 'Foo_Result' assert len(spec.result.fields) == 1 assert len(spec.result.constants) == 0 # Feedback checks assert spec.feedback.base_type.pkg_name == 'pkg' assert spec.feedback.msg_name == 'Foo_Feedback' assert len(spec.feedback.fields) == 1 assert len(spec.feedback.constants) == 0
def test_valid_action_string1(): spec = parse_action_string('pkg', 'Foo', 'bool foo\n---\nint8 bar\n---\nbool foo') # Goal checks assert spec.goal.base_type.pkg_name == 'pkg' assert spec.goal.msg_name == 'Foo_Goal' assert len(spec.goal.fields) == 1 assert len(spec.goal.constants) == 0 # Result checks assert spec.result.base_type.pkg_name == 'pkg' assert spec.result.msg_name == 'Foo_Result' assert len(spec.result.fields) == 1 assert len(spec.result.constants) == 0 # Feedback checks assert spec.feedback.base_type.pkg_name == 'pkg' assert spec.feedback.msg_name == 'Foo_Feedback' assert len(spec.feedback.fields) == 1 assert len(spec.feedback.constants) == 0
def convert_action_to_idl(package_dir, package_name, input_file, output_dir): assert package_dir.is_absolute() assert not input_file.is_absolute() assert input_file.suffix == '.action' abs_input_file = package_dir / input_file print('Reading input file: {abs_input_file}'.format_map(locals())) abs_input_file = package_dir / input_file content = abs_input_file.read_text(encoding='utf-8') action = parse_action_string(package_name, input_file.stem, content) # HACK as long as the return action specification contains implicitly added # fields they have to be skipped when generating .idl files assert len(action.goal_service.request.fields) >= 1 assert action.goal_service.request.fields[0].name == 'uuid' action.goal_service.request.fields.pop(0) assert len(action.goal_service.response.fields) >= 2 assert action.goal_service.response.fields[0].name == 'accepted' assert action.goal_service.response.fields[1].name == 'stamp' action.goal_service.response.fields.pop(1) action.goal_service.response.fields.pop(0) assert len(action.result_service.request.fields) >= 1 assert action.result_service.request.fields[0].name == 'uuid' action.result_service.request.fields.pop(0) assert len(action.result_service.response.fields) >= 1 assert action.result_service.response.fields[0].name == 'status' action.result_service.response.fields.pop(0) assert len(action.feedback.fields) >= 1 assert action.feedback.fields[0].name == 'uuid' action.feedback.fields.pop(0) output_file = output_dir / input_file.with_suffix('.idl').name abs_output_file = output_file.absolute() print('Writing output file: {abs_output_file}'.format_map(locals())) data = { 'pkg_name': package_name, 'relative_input_file': input_file, 'action': action, } expand_template('action.idl.em', data, output_file) return output_file
def convert_action_to_idl(package_dir, package_name, input_file, output_dir): assert package_dir.is_absolute() assert not input_file.is_absolute() assert input_file.suffix == '.action' abs_input_file = package_dir / input_file print(f'Reading input file: {abs_input_file}') abs_input_file = package_dir / input_file content = abs_input_file.read_text(encoding='utf-8') action = parse_action_string(package_name, input_file.stem, content) output_file = output_dir / input_file.with_suffix('.idl').name abs_output_file = output_file.absolute() print(f'Writing output file: {abs_output_file}') data = { 'pkg_name': package_name, 'relative_input_file': input_file.as_posix(), 'action': action, } expand_template('action.idl.em', data, output_file, encoding='iso-8859-1') return output_file
def convert_action_to_idl(package_dir, package_name, input_file, output_dir): assert package_dir.is_absolute() assert not input_file.is_absolute() assert input_file.suffix == '.action' abs_input_file = package_dir / input_file print('Reading input file: {abs_input_file}'.format_map(locals())) abs_input_file = package_dir / input_file content = abs_input_file.read_text(encoding='utf-8') action = parse_action_string(package_name, input_file.stem, content) output_file = output_dir / input_file.with_suffix('.idl').name abs_output_file = output_file.absolute() print('Writing output file: {abs_output_file}'.format_map(locals())) data = { 'pkg_name': package_name, 'relative_input_file': input_file, 'action': action, } expand_template('action.idl.em', data, output_file) return output_file
def test_valid_action_string(): parse_action_string('pkg', 'Foo', 'bool foo\n---\nint8 bar\n---')
def test_valid_action_string(): parse_action_string('pkg', 'Foo', 'bool foo\n---\nint8 bar\n---')