def test_transform_cbor_with_nested_link_to_dict():
src = dumps(
{
'num': 1,
'hello': 'world',
'l1': Tag(LINK_TAG, 'takemedowntotheparadisecity'),
'secret': {
'l1': Tag(LINK_TAG, 'Ihhh ein Sekret!')
},
},
sort_keys=True)
expected = {
'hello': 'world',
'num': 1,
'l1': {
'/': 'takemedowntotheparadisecity',
},
'secret': {
'l1': {
'/': 'Ihhh ein Sekret!',
},
},
}
assert unmarshal(src) == expected
def transform(di):
for k, v in di.items():
if isinstance(v, dict):
di[k] = transform(v)
if LINK_SYMBOL in di.keys():
# TODO: Support: https://github.com/jbenet/js-multiaddr
link = di[LINK_SYMBOL]
di.pop(LINK_SYMBOL, None)
if len(di.keys()) > 1:
raise KeyError('Links must not have siblings')
return Tag(LINK_TAG, link)
return di
def test_transform_cbor_to_dict_with_multiaddr():
addr1 = Multiaddr('/ip4/127.0.0.1/udp/1234')
addr2 = Multiaddr('/ipfs/Qmafmh1Cw3H1bwdYpaaj5AbCW4LkYyUWaM7Nykpn5NZoYL')
src = dumps({
'data': 'hello world',
'size': 11,
'l1': Tag(LINK_TAG, addr1.to_bytes()),
'l2': Tag(LINK_TAG, addr2.to_bytes()),
}, sort_keys=True)
expected = {
'data': 'hello world',
'size': 11,
'l1': {
'/': str(addr1),
},
'l2': {
'/': str(addr2),
}
}
assert unmarshal(src) == expected
def test_transform_dict_with_link_to_cbor():
src = {
'hello': 'world',
'num': 1,
'l1': {
'/': 'takemedowntotheparadisecity',
},
}
expected = {
'num': 1,
'hello': 'world',
'l1': Tag(LINK_TAG, 'takemedowntotheparadisecity'),
}
assert marshal(src) == dumps(expected, sort_keys=True)
def transform(di):
for k, v in di.items():
if isinstance(v, dict):
di[k] = transform(v)
if LINK_SYMBOL in di:
link = di.pop(LINK_SYMBOL)
try:
link = Multiaddr(link).to_bytes()
except ValueError:
pass
if di:
raise KeyError('Links must not have siblings')
return Tag(LINK_TAG, link)
return di
def extract_cbor_values(msg):
"""Extract a dictionary of CBOR-friendly values from a ROS message.
Primitive values will be casted to specific Python primitives.
Typed arrays will be tagged and packed into byte arrays.
"""
out = {}
for slot, slot_type in zip(msg.__slots__, msg._slot_types):
val = getattr(msg, slot)
if PYTHON2:
slot = unicode(slot) # noqa: F821
# string
if slot_type in STRING_TYPES:
out[slot] = unicode(val) if PYTHON2 else str(val) # noqa: F821
# bool
elif slot_type in BOOL_TYPES:
out[slot] = bool(val)
# integers
elif slot_type in INT_TYPES:
out[slot] = int(val)
# floats
elif slot_type in FLOAT_TYPES:
out[slot] = float(val)
# time/duration
elif slot_type in TIME_TYPES:
out[slot] = {
'secs': int(val.secs),
'nsecs': int(val.nsecs),
}
# byte array
elif slot_type in BYTESTREAM_TYPES:
if PYTHON2:
out[slot] = bytes(bytearray(val))
else:
out[slot] = bytes(val)
# bool array
elif slot_type in BOOL_ARRAY_TYPES:
out[slot] = [bool(i) for i in val]
# numeric arrays
elif slot_type in TAGGED_ARRAY_FORMATS:
tag, fmt = TAGGED_ARRAY_FORMATS[slot_type]
fmt_to_length = fmt.format(len(val))
packed = struct.pack(fmt_to_length, *val)
out[slot] = Tag(tag=tag, value=packed)
# array of messages
elif type(val) in LIST_TYPES:
out[slot] = [extract_cbor_values(i) for i in val]
# message
else:
out[slot] = extract_cbor_values(val)
return out