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_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_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_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_srv():
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 with srvs
srv_search_path = {
"test_ros": [os.path.join(test_d, "test_ros", "srv")],
"std_srvs": [os.path.join(test_d, "std_srvs", "srv")],
}
msg_context = MsgContext.create_default()
root_spec = load_srv_by_type(msg_context, "test_ros/AddTwoInts", srv_search_path)
load_depends(msg_context, root_spec, msg_search_path)
val = msg_context.get_depends("test_ros/AddTwoIntsRequest")
assert val == [], val
val = msg_context.get_depends("test_ros/AddTwoIntsResponse")
assert val == [], val
# test with srv that has depends
msg_context = MsgContext.create_default()
response_deps = [
"std_msgs/Header",
"geometry_msgs/Pose",
"geometry_msgs/PoseStamped",
"geometry_msgs/Point",
"geometry_msgs/Quaternion",
]
root_spec = load_srv_by_type(msg_context, "test_ros/GetPoseStamped", srv_search_path)
load_depends(msg_context, root_spec, msg_search_path)
for d in response_deps:
assert msg_context.is_registered(d)
val = msg_context.get_depends("test_ros/GetPoseStampedRequest")
assert val == [], val
val = msg_context.get_depends("test_ros/GetPoseStampedResponse")
assert val == ["geometry_msgs/PoseStamped"]
# Test with nonsense
class Foo(object):
pass
try:
load_depends(msg_context, Foo(), msg_search_path)
assert False, "should have raised"
except ValueError:
pass
def test_compute_import():
import genpy.generator
msg_context = MsgContext.create_default()
assert [] == genpy.generator.compute_import(msg_context, 'foo', 'bar')
assert [] == genpy.generator.compute_import(msg_context, 'foo', 'int32')
msg_context.register('ci_msgs/Base', MsgSpec(['int8'], ['data'], [], 'int8 data\n', 'ci_msgs/Base'))
msg_context.register('ci2_msgs/Base2', MsgSpec(['ci_msgs/Base'], ['data2'], [], 'ci_msgs/Base data2\n', 'ci2_msgs/Base2'))
msg_context.register('ci3_msgs/Base3', MsgSpec(['ci2_msgs/Base2'], ['data3'], [], 'ci2_msgs/Base2 data3\n', 'ci3_msgs/Base3'))
msg_context.register('ci4_msgs/Base', MsgSpec(['int8'], ['data'], [], 'int8 data\n', 'ci4_msgs/Base'))
msg_context.register('ci4_msgs/Base4', MsgSpec(['ci2_msgs/Base2', 'ci3_msgs/Base3'],
['data4a', 'data4b'],
[], 'ci2_msgs/Base2 data4a\nci3_msgs/Base3 data4b\n', 'ci4_msgs/Base4'))
msg_context.register('ci5_msgs/Base', MsgSpec(['time'], ['data'], [], 'time data\n', 'ci5_msgs/Base'))
assert ['import ci_msgs.msg'] == genpy.generator.compute_import(msg_context, 'foo', 'ci_msgs/Base')
assert ['import ci_msgs.msg'] == genpy.generator.compute_import(msg_context, 'ci_msgs', 'ci_msgs/Base')
assert ['import ci2_msgs.msg', 'import ci_msgs.msg'] == genpy.generator.compute_import(msg_context, 'ci2_msgs', 'ci2_msgs/Base2')
assert ['import ci2_msgs.msg', 'import ci_msgs.msg'] == genpy.generator.compute_import(msg_context, 'foo', 'ci2_msgs/Base2')
assert ['import ci3_msgs.msg', 'import ci2_msgs.msg', 'import ci_msgs.msg'] == genpy.generator.compute_import(msg_context, 'ci3_msgs', 'ci3_msgs/Base3')
assert set(['import ci4_msgs.msg', 'import ci3_msgs.msg', 'import ci2_msgs.msg', 'import ci_msgs.msg']) == set(genpy.generator.compute_import(msg_context, 'foo', 'ci4_msgs/Base4'))
assert set(['import ci4_msgs.msg', 'import ci3_msgs.msg', 'import ci2_msgs.msg', 'import ci_msgs.msg']) == set(genpy.generator.compute_import(msg_context, 'ci4_msgs', 'ci4_msgs/Base4'))
assert ['import ci4_msgs.msg'] == genpy.generator.compute_import(msg_context, 'foo', 'ci4_msgs/Base')
assert ['import ci4_msgs.msg'] == genpy.generator.compute_import(msg_context, 'ci4_msgs', 'ci4_msgs/Base')
assert ['import ci4_msgs.msg'] == genpy.generator.compute_import(msg_context, 'ci4_msgs', 'Base')
assert ['import ci5_msgs.msg', 'import genpy'] == genpy.generator.compute_import(msg_context, 'foo', 'ci5_msgs/Base')
def test_flatten():
import genpy.generator
from genpy.generator import flatten
msg_context = MsgContext.create_default()
simple = MsgSpec(['string'], ['data'], [], 'string data\n', 'simple/String')
simple2 = MsgSpec(['string', 'int32'], ['data', 'data2'], [], 'string data\nint32 data2\n', 'simpe/Data2')
assert simple == flatten(msg_context, simple)
assert simple2 == flatten(msg_context, simple2)
b1 = MsgSpec(['int8'], ['data'], [], 'X', 'f_msgs/Base')
b2 = MsgSpec(['f_msgs/Base'], ['data'], [], 'X', 'f_msgs/Base2')
b3 = MsgSpec(['f_msgs/Base2', 'f_msgs/Base2'], ['data3', 'data4'], [], 'X', 'f_msgs/Base3')
b4 = MsgSpec(['f_msgs/Base3', 'f_msgs/Base3'], ['dataA', 'dataB'], [], 'X', 'f_msgs/Base4')
msg_context.register('f_msgs/Base', b1)
msg_context.register('f_msgs/Base2', b2)
msg_context.register('f_msgs/Base3', b3)
msg_context.register('f_msgs/Base4', b4)
assert MsgSpec(['int8'], ['data.data'], [], 'X', 'f_msgs/Base2') == flatten(msg_context, b2)
assert MsgSpec(['int8', 'int8'], ['data3.data.data', 'data4.data.data'], [], 'X', 'f_msgs/Base3') == flatten(msg_context, b3)
assert MsgSpec(['int8', 'int8', 'int8', 'int8'],
['dataA.data3.data.data', 'dataA.data4.data.data', 'dataB.data3.data.data', 'dataB.data4.data.data'],
[], 'X', 'f_msgs/Base4') == flatten(msg_context, b4)
def test_load_msg_from_file():
from genmsg.msgs import InvalidMsgSpec
from genmsg.msg_loader import load_msg_from_file, MsgContext
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'msg')
test_string_path = os.path.join(test_ros_dir, 'TestString.msg')
msg_context = MsgContext.create_default()
spec = load_msg_from_file(msg_context, test_string_path, 'test_ros/TestString')
assert spec.full_name == 'test_ros/TestString'
assert spec.package == 'test_ros'
assert spec.short_name == 'TestString'
_validate_TestString(spec)
# test repeat
spec_2 = load_msg_from_file(msg_context, test_string_path, 'test_ros/TestString')
assert spec == spec_2
assert spec.package == spec_2.package
assert spec.short_name == spec_2.short_name
# test w/ bad file
test_bad_path = os.path.join(test_ros_dir, 'Bad.msg')
try:
load_msg_from_file(msg_context, test_bad_path, 'test_ros/Bad')
assert False, "should have raised"
except InvalidMsgSpec:
pass
# supposed to register
assert msg_context.is_registered('test_ros/TestString'), msg_context
def test_compute_constructor():
from genpy.generator import compute_constructor
msg_context = MsgContext.create_default()
msg_context.register('fake_msgs/String', MsgSpec(['string'], ['data'], [], 'string data\n', 'fake_msgs/String'))
msg_context.register('fake_msgs/ThreeNums', MsgSpec(['int32', 'int32', 'int32'], ['x', 'y', 'z'], [], 'int32 x\nint32 y\nint32 z\n', 'fake_msgs/ThreeNums'))
# builtin specials
assert 'genpy.Time()' == compute_constructor(msg_context, 'roslib', 'time')
assert 'genpy.Duration()' == compute_constructor(msg_context, 'roslib', 'duration')
assert 'std_msgs.msg._Header.Header()' == compute_constructor(msg_context, 'std_msgs', 'Header')
assert 'genpy.Time()' == compute_constructor(msg_context, 'std_msgs', 'time')
assert 'genpy.Duration()' == compute_constructor(msg_context, 'std_msgs', 'duration')
# generic instances
# - unregistered type
assert None == compute_constructor(msg_context, "unknown_msgs", "unknown_msgs/Foo")
assert None == compute_constructor(msg_context, "unknown_msgs", "Foo")
# - wrong context
assert None == compute_constructor(msg_context, 'std_msgs', 'ThreeNums')
# - registered types
assert 'fake_msgs.msg.String()' == compute_constructor(msg_context, 'std_msgs', 'fake_msgs/String')
assert 'fake_msgs.msg.String()' == compute_constructor(msg_context, 'fake_msgs', 'fake_msgs/String')
assert 'fake_msgs.msg.String()' == compute_constructor(msg_context, 'fake_msgs', 'String')
assert 'fake_msgs.msg.ThreeNums()' == compute_constructor(msg_context, 'fake_msgs', 'fake_msgs/ThreeNums')
assert 'fake_msgs.msg.ThreeNums()' == compute_constructor(msg_context, 'fake_msgs', 'fake_msgs/ThreeNums')
assert 'fake_msgs.msg.ThreeNums()' == compute_constructor(msg_context, 'fake_msgs', 'ThreeNums')
def test_load_msg_from_string():
# make sure Header -> std_msgs/Header conversion works
from genmsg.msgs import Constant
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msgspec = load_msg_from_string(context, "Header header", 'test_pkg/HeaderTest')
print(msgspec)
assert msgspec.has_header()
assert msgspec.types == ['std_msgs/Header']
assert msgspec.names == ['header']
assert msgspec.constants == []
assert msgspec.short_name == 'HeaderTest'
assert msgspec.package == 'test_pkg'
assert msgspec.full_name == 'test_pkg/HeaderTest'
msgspec = load_msg_from_string(context, "int8 c=1\nHeader header\nint64 data", 'test_pkg/HeaderValsTest')
assert msgspec.has_header()
assert msgspec.types == ['std_msgs/Header', 'int64']
assert msgspec.names == ['header', 'data']
assert msgspec.constants == [Constant('int8', 'c', 1, '1')]
assert msgspec.short_name == 'HeaderValsTest'
assert msgspec.package == 'test_pkg'
assert msgspec.full_name == 'test_pkg/HeaderValsTest'
msgspec = load_msg_from_string(context, "string data\nint64 data2", 'test_pkg/ValsTest')
assert not msgspec.has_header()
assert msgspec.types == ['string', 'int64']
assert msgspec.names == ['data', 'data2']
assert msgspec.constants == []
assert msgspec.short_name == 'ValsTest'
assert msgspec.full_name == 'test_pkg/ValsTest'
def test_load_msg_from_string():
# make sure Header -> std_msgs/Header conversion works
from genmsg.msgs import Constant
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msgspec = load_msg_from_string(context, "Header header", "test_pkg/HeaderTest")
print msgspec
assert msgspec.has_header()
assert msgspec.types == ["std_msgs/Header"]
assert msgspec.names == ["header"]
assert msgspec.constants == []
assert msgspec.short_name == "HeaderTest"
assert msgspec.package == "test_pkg"
assert msgspec.full_name == "test_pkg/HeaderTest"
msgspec = load_msg_from_string(context, "int8 c=1\nHeader header\nint64 data", "test_pkg/HeaderValsTest")
assert msgspec.has_header()
assert msgspec.types == ["std_msgs/Header", "int64"]
assert msgspec.names == ["header", "data"]
assert msgspec.constants == [Constant("int8", "c", 1, "1")]
assert msgspec.short_name == "HeaderValsTest"
assert msgspec.package == "test_pkg"
assert msgspec.full_name == "test_pkg/HeaderValsTest"
msgspec = load_msg_from_string(context, "string data\nint64 data2", "test_pkg/ValsTest")
assert not msgspec.has_header()
assert msgspec.types == ["string", "int64"]
assert msgspec.names == ["data", "data2"]
assert msgspec.constants == []
assert msgspec.short_name == "ValsTest"
assert msgspec.full_name == "test_pkg/ValsTest"
def test_array_serializer_generator_numpy():
is_numpy = True
from genpy.generator import array_serializer_generator
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()
# permutations: var length, unint8
serialize = True
result = array_serializer_generator(msg_context, '', 'uint8[]', 'data', serialize, is_numpy)
compare_file(d, 'uint8_varlen_ser_np.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[]', 'data', serialize, is_numpy)
compare_file(d, 'int16_varlen_ser_np.txt', result)
result = array_serializer_generator(msg_context, '', 'uint8[8]', 'data', serialize, is_numpy)
compare_file(d, 'uint8_fixed_ser_np.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[10]', 'data', serialize, is_numpy)
compare_file(d, 'int16_fixed_ser_np.txt', result)
serialize = False
result = array_serializer_generator(msg_context, '', 'uint8[]', 'data', serialize, is_numpy)
compare_file(d, 'uint8_varlen_deser_np.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[]', 'data', serialize, is_numpy)
compare_file(d, 'int16_varlen_deser_np.txt', result)
result = array_serializer_generator(msg_context, '', 'uint8[8]', 'data', serialize, is_numpy)
compare_file(d, 'uint8_fixed_deser_np.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[10]', 'data', serialize, is_numpy)
compare_file(d, 'int16_fixed_deser_np.txt', result)
def test_load_depends_srv():
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 with srvs
srv_search_path = {
'test_ros': [ os.path.join(test_d, 'test_ros', 'srv') ],
'std_srvs': [ os.path.join(test_d, 'std_srvs', 'srv') ],
}
msg_context = MsgContext.create_default()
root_spec = load_srv_by_type(msg_context, 'test_ros/AddTwoInts', srv_search_path)
load_depends(msg_context, root_spec, msg_search_path)
val = msg_context.get_depends('test_ros/AddTwoIntsRequest')
assert val == [], val
val = msg_context.get_depends('test_ros/AddTwoIntsResponse')
assert val == [], val
# test with srv that has depends
msg_context = MsgContext.create_default()
response_deps = ['std_msgs/Header', 'geometry_msgs/Pose', 'geometry_msgs/PoseStamped', 'geometry_msgs/Point', 'geometry_msgs/Quaternion']
root_spec = load_srv_by_type(msg_context, 'test_ros/GetPoseStamped', srv_search_path)
load_depends(msg_context, root_spec, msg_search_path)
for d in response_deps:
assert msg_context.is_registered(d)
val = msg_context.get_depends('test_ros/GetPoseStampedRequest')
assert val == [], val
val = msg_context.get_depends('test_ros/GetPoseStampedResponse')
assert val == ['geometry_msgs/PoseStamped']
# Test with nonsense
class Foo(object): pass
try:
load_depends(msg_context, Foo(), msg_search_path)
assert False, "should have raised"
except ValueError:
pass
def test_get_registered_ex():
import genpy.generator
msg_context = MsgContext.create_default()
s = MsgSpec(['string'], ['data'], [], 'string data\n', 'tgr_msgs/String')
msg_context.register('tgr_msgs/String', s)
assert s == genpy.generator.get_registered_ex(msg_context, 'tgr_msgs/String')
try:
genpy.generator.get_registered_ex(msg_context, 'bad_msgs/String')
except genpy.generator.MsgGenerationException: pass
def test_flatten_array_objects():
# make sure array of types don't flatten
from genpy.generator import flatten
msg_context = MsgContext.create_default()
b1 = MsgSpec(['int8'], ['data'], [], 'X', 'f_msgs/Base')
b5 = MsgSpec(['f_msgs/Base[]'], ['data'], [], 'X', 'f_msgs/Base5')
msg_context.register('f_msgs/Base', b1)
msg_context.register('f_msgs/Base5', b5)
assert b5 == flatten(msg_context, b5)
def test_load_msg_from_string_TestString():
from genmsg.msg_loader import load_msg_from_string, MsgContext
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'msg')
test_string_path = os.path.join(test_ros_dir, 'TestString.msg')
with open(test_string_path) as f:
text = f.read()
msg_context = MsgContext.create_default()
_validate_TestString(load_msg_from_string(msg_context, text, 'test_ros/TestString'))
# supposed to register
assert msg_context.is_registered('test_ros/TestString'), msg_context
def test_load_srv_by_type():
from genmsg.msg_loader import load_srv_by_type, MsgContext, MsgNotFound
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'srv')
std_srvs_dir = os.path.join(test_d, 'std_srvs', 'srv')
empty_path = os.path.join(std_srvs_dir, 'Empty.srv')
a2i_path = os.path.join(std_srvs_dir, 'AddTwoInts.srv')
search_path = {
'test_ros': [ test_ros_dir ],
'std_srvs': [ std_srvs_dir ],
}
msg_context = MsgContext.create_default()
spec = load_srv_by_type(msg_context, 'std_srvs/Empty', search_path)
assert msg_context.is_registered('std_srvs/EmptyRequest')
assert msg_context.is_registered('std_srvs/EmptyResponse')
assert msg_context.get_registered('std_srvs/EmptyRequest') == spec.request
assert msg_context.get_registered('std_srvs/EmptyResponse') == spec.response
assert msg_context.get_file('std_srvs/EmptyRequest') == empty_path, msg_context.get_file('std_srvs/EmptyRequest')
assert msg_context.get_file('std_srvs/EmptyResponse') == empty_path,msg_context.get_file('std_srvs/EmptyResponse')
assert spec.request.full_name == 'std_srvs/EmptyRequest'
assert spec.response.full_name == 'std_srvs/EmptyResponse'
assert spec.request.short_name == 'EmptyRequest'
assert spec.response.short_name == 'EmptyResponse'
assert spec.request.package == 'std_srvs'
assert spec.response.package == 'std_srvs'
for f in [spec.request.names, spec.request.types, spec.response.names, spec.response.types]:
assert [] == f
spec = load_srv_by_type(msg_context, 'test_ros/AddTwoInts', search_path)
assert msg_context.is_registered('test_ros/AddTwoIntsRequest')
assert msg_context.is_registered('test_ros/AddTwoIntsResponse')
assert msg_context.get_registered('test_ros/AddTwoIntsRequest') == spec.request
assert msg_context.get_registered('test_ros/AddTwoIntsResponse') == spec.response
assert spec.request.types == ['int64', 'int64'], spec.request.types
assert spec.request.names == ['a', 'b'], spec.request.names
assert spec.response.types == ['int64'], spec.response.types
assert spec.response.names == ['sum'], spec.response.names
# test invalid search path
try:
load_srv_by_type(msg_context, 'test_ros/AddTwoInts', [std_srvs_dir])
assert False, "should have raised"
except ValueError:
pass
# test not found
try:
load_srv_by_type(msg_context, 'test_ros/Fake', search_path)
assert False, "should have raised"
except MsgNotFound:
pass
def test_load_msg_from_string_TestString():
from genmsg.msg_loader import load_msg_from_string, MsgContext
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'msg')
test_string_path = os.path.join(test_ros_dir, 'TestString.msg')
with open(test_string_path) as f:
text = f.read()
msg_context = MsgContext.create_default()
_validate_TestString(
load_msg_from_string(msg_context, text, 'test_ros/TestString'))
# supposed to register
assert msg_context.is_registered('test_ros/TestString'), msg_context
def test__group_fields5():
from genfrkl import group_fields
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msg_txt = """
uint32[4] a
uint16[5] b
"""
msgspec = load_msg_from_string(context, msg_txt, 'my_pkg/FieldGroupTest')
groups = group_fields(msgspec)
assert len(groups) == 2, "Expected 2 groups"
assert len(groups[0]) == 1, "First group should have only one element"
assert len(groups[1]) == 1, "Second group should have only one element"
def test_load_srv_by_type():
from genmsg.msg_loader import load_srv_by_type, MsgContext, MsgNotFound
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, "test_ros", "srv")
std_srvs_dir = os.path.join(test_d, "std_srvs", "srv")
empty_path = os.path.join(std_srvs_dir, "Empty.srv")
a2i_path = os.path.join(std_srvs_dir, "AddTwoInts.srv")
search_path = {"test_ros": [test_ros_dir], "std_srvs": [std_srvs_dir]}
msg_context = MsgContext.create_default()
spec = load_srv_by_type(msg_context, "std_srvs/Empty", search_path)
assert msg_context.is_registered("std_srvs/EmptyRequest")
assert msg_context.is_registered("std_srvs/EmptyResponse")
assert msg_context.get_registered("std_srvs/EmptyRequest") == spec.request
assert msg_context.get_registered("std_srvs/EmptyResponse") == spec.response
assert msg_context.get_file("std_srvs/EmptyRequest") == empty_path, msg_context.get_file("std_srvs/EmptyRequest")
assert msg_context.get_file("std_srvs/EmptyResponse") == empty_path, msg_context.get_file("std_srvs/EmptyResponse")
assert spec.request.full_name == "std_srvs/EmptyRequest"
assert spec.response.full_name == "std_srvs/EmptyResponse"
assert spec.request.short_name == "EmptyRequest"
assert spec.response.short_name == "EmptyResponse"
assert spec.request.package == "std_srvs"
assert spec.response.package == "std_srvs"
for f in [spec.request.names, spec.request.types, spec.response.names, spec.response.types]:
assert [] == f
spec = load_srv_by_type(msg_context, "test_ros/AddTwoInts", search_path)
assert msg_context.is_registered("test_ros/AddTwoIntsRequest")
assert msg_context.is_registered("test_ros/AddTwoIntsResponse")
assert msg_context.get_registered("test_ros/AddTwoIntsRequest") == spec.request
assert msg_context.get_registered("test_ros/AddTwoIntsResponse") == spec.response
assert spec.request.types == ["int64", "int64"], spec.request.types
assert spec.request.names == ["a", "b"], spec.request.names
assert spec.response.types == ["int64"], spec.response.types
assert spec.response.names == ["sum"], spec.response.names
# test invalid search path
try:
load_srv_by_type(msg_context, "test_ros/AddTwoInts", [std_srvs_dir])
assert False, "should have raised"
except ValueError:
pass
# test not found
try:
load_srv_by_type(msg_context, "test_ros/Fake", search_path)
assert False, "should have raised"
except MsgNotFound:
pass
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__group_fields5():
from genfrkl import group_fields
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msg_txt = """
uint8 a
uint16 b
uint32 c
uint32[3] d
Int64 e
"""
msgspec = load_msg_from_string(context, msg_txt, 'my_pkg/FieldGroupTest')
groups = group_fields(msgspec)
assert len(groups) == 3, "Expected 3 groups"
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_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_srv_from_file():
from genmsg.msg_loader import MsgContext, load_srv_from_file
msg_context = MsgContext.create_default()
d = get_test_dir()
filename = os.path.join(d, 'test_ros', 'srv', 'AddTwoInts.srv')
with open(filename, 'r') as f:
text = f.read()
full_name = 'test_ros/AddTwoInts'
spec = load_srv_from_file(msg_context, filename, full_name)
assert spec == load_srv_from_file(msg_context, filename, full_name)
assert ['int64', 'int64'] == spec.request.types, spec.request.types
assert ['a', 'b'] == spec.request.names
assert text == spec.text
assert full_name == spec.full_name
def test_load_srv_from_file():
from genmsg.msg_loader import MsgContext, load_srv_from_file
msg_context = MsgContext.create_default()
d = get_test_dir()
filename = os.path.join(d, 'test_ros', 'srv', 'AddTwoInts.srv')
with open(filename, 'r') as f:
text = f.read()
full_name = 'test_ros/AddTwoInts'
spec = load_srv_from_file(msg_context, filename, full_name)
assert spec == load_srv_from_file(msg_context, filename, full_name)
assert ['int64', 'int64'] == spec.request.types, spec.request.types
assert ['a', 'b'] == spec.request.names
assert text == spec.text
assert full_name == spec.full_name
def test_load_srv_from_file():
from genmsg.msg_loader import MsgContext, load_srv_from_file
msg_context = MsgContext.create_default()
d = get_test_dir()
filename = os.path.join(d, "test_ros", "srv", "AddTwoInts.srv")
with open(filename, "r") as f:
text = f.read()
full_name = "test_ros/AddTwoInts"
spec = load_srv_from_file(msg_context, filename, full_name)
assert spec == load_srv_from_file(msg_context, filename, full_name)
assert ["int64", "int64"] == spec.request.types, spec.request.types
assert ["a", "b"] == spec.request.names
assert text == spec.text
assert full_name == spec.full_name
def test_compute_constructor():
import genpy.generator
from genpy.generator import compute_constructor
msg_context = MsgContext.create_default()
msg_context.register(
'fake_msgs/String',
MsgSpec(['string'], ['data'], [], 'string data\n', 'fake_msgs/String'))
msg_context.register(
'fake_msgs/ThreeNums',
MsgSpec(['int32', 'int32', 'int32'], ['x', 'y', 'z'], [],
'int32 x\nint32 y\nint32 z\n', 'fake_msgs/ThreeNums'))
# builtin specials
assert 'genpy.Time()' == compute_constructor(msg_context, 'roslib', 'time')
assert 'genpy.Duration()' == compute_constructor(msg_context, 'roslib',
'duration')
assert 'std_msgs.msg._Header.Header()' == compute_constructor(
msg_context, 'std_msgs', 'Header')
assert 'genpy.Time()' == compute_constructor(msg_context, 'std_msgs',
'time')
assert 'genpy.Duration()' == compute_constructor(msg_context, 'std_msgs',
'duration')
# generic instances
# - unregistered type
assert None == compute_constructor(msg_context, "unknown_msgs",
"unknown_msgs/Foo")
assert None == compute_constructor(msg_context, "unknown_msgs", "Foo")
# - wrong context
assert None == compute_constructor(msg_context, 'std_msgs', 'ThreeNums')
# - registered types
assert 'fake_msgs.msg.String()' == compute_constructor(
msg_context, 'std_msgs', 'fake_msgs/String')
assert 'fake_msgs.msg.String()' == compute_constructor(
msg_context, 'fake_msgs', 'fake_msgs/String')
assert 'fake_msgs.msg.String()' == compute_constructor(
msg_context, 'fake_msgs', 'String')
assert 'fake_msgs.msg.ThreeNums()' == compute_constructor(
msg_context, 'fake_msgs', 'fake_msgs/ThreeNums')
assert 'fake_msgs.msg.ThreeNums()' == compute_constructor(
msg_context, 'fake_msgs', 'fake_msgs/ThreeNums')
assert 'fake_msgs.msg.ThreeNums()' == compute_constructor(
msg_context, 'fake_msgs', 'ThreeNums')
def test__group_fields3():
from genfrkl import group_fields
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msg_txt = """
Float32 x
Float32[4] xx
float32 z
float32 zz
"""
msgspec = load_msg_from_string(context, msg_txt, 'my_pkg/FieldGroupTest')
groups = group_fields(msgspec)
assert len(groups) == 3, "Expected 2 groups"
assert len(groups[0]) == 1, "First group should have only one element"
assert len(groups[1]) == 1, "Second group should have only one element"
assert len(groups[2]) == 2, "Third group should have two elements"
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_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 test_array_serializer_generator_numpy():
is_numpy = True
from genpy.generator import array_serializer_generator
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()
# permutations: var length, unint8
serialize = True
result = array_serializer_generator(msg_context, '', 'uint8[]', 'data',
serialize, is_numpy)
compare_file(d, 'uint8_varlen_ser_np.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[]', 'data',
serialize, is_numpy)
compare_file(d, 'int16_varlen_ser_np.txt', result)
result = array_serializer_generator(msg_context, '', 'uint8[8]', 'data',
serialize, is_numpy)
compare_file(d, 'uint8_fixed_ser_np.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[10]', 'data',
serialize, is_numpy)
compare_file(d, 'int16_fixed_ser_np.txt', result)
serialize = False
result = array_serializer_generator(msg_context, '', 'uint8[]', 'data',
serialize, is_numpy)
compare_file(d, 'uint8_varlen_deser_np.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[]', 'data',
serialize, is_numpy)
compare_file(d, 'int16_varlen_deser_np.txt', result)
result = array_serializer_generator(msg_context, '', 'uint8[8]', 'data',
serialize, is_numpy)
compare_file(d, 'uint8_fixed_deser_np.txt', result)
result = array_serializer_generator(msg_context, '', 'int16[10]', 'data',
serialize, is_numpy)
compare_file(d, 'int16_fixed_deser_np.txt', result)
def test_load_srv_with_string_constant_from_file():
from genmsg.msg_loader import MsgContext, load_srv_from_file
msg_context = MsgContext.create_default()
d = get_test_dir()
filename = os.path.join(d, 'test_ros', 'srv',
'ServiceWithStringConstant.srv')
with open(filename, 'r') as f:
text = f.read()
full_name = 'test_ros/ServiceWithStringConstant'
spec = load_srv_from_file(msg_context, filename, full_name)
assert spec == load_srv_from_file(msg_context, filename, full_name)
assert ['string'] == spec.request.types, spec.request.types
assert ['value'] == spec.request.names
assert ['return_value'] == spec.response.names
assert len(spec.request.constants) == 2
index_string = 0 if spec.request.constants[0].name == 'EXAMPLE' else 1
index_int = 1 - index_string
constant = spec.request.constants[index_string]
assert constant.type == 'string'
assert constant.name == 'EXAMPLE'
assert constant.val == 'here "#comments" are ignored, and leading and trailing whitespace removed', '<{}>'.format(
constant.val)
constant = spec.request.constants[index_int]
assert constant.type == 'int32'
assert constant.name == 'INTCONST'
assert constant.val == 42, '<{}>'.format(constant.val)
assert len(spec.response.constants) == 1
constant = spec.response.constants[0]
assert constant.type == 'string'
assert constant.name == 'RESULTEXAMPLE'
assert constant.val == 'here "#comments" are ignored too, and leading and trailing whitespace removed', '<{}>'.format(
constant.val)
assert text == spec.text
assert full_name == spec.full_name
def test_load_msg_from_string():
# make sure Header -> std_msgs/Header conversion works
from genmsg.msgs import Constant
from genmsg.msg_loader import load_msg_from_string, MsgContext
context = MsgContext.create_default()
msgspec = load_msg_from_string(context, "Header header",
'test_pkg/HeaderTest')
print(msgspec)
assert msgspec.has_header()
assert msgspec.types == ['std_msgs/Header']
assert msgspec.names == ['header']
assert msgspec.constants == []
assert msgspec.short_name == 'HeaderTest'
assert msgspec.package == 'test_pkg'
assert msgspec.full_name == 'test_pkg/HeaderTest'
msgspec = load_msg_from_string(context,
"int8 c=1\nHeader header\nint64 data",
'test_pkg/HeaderValsTest')
assert msgspec.has_header()
assert msgspec.types == ['std_msgs/Header', 'int64']
assert msgspec.names == ['header', 'data']
assert msgspec.constants == [Constant('int8', 'c', 1, '1')]
assert msgspec.short_name == 'HeaderValsTest'
assert msgspec.package == 'test_pkg'
assert msgspec.full_name == 'test_pkg/HeaderValsTest'
msgspec = load_msg_from_string(context, "string data\nint64 data2",
'test_pkg/ValsTest')
assert not msgspec.has_header()
assert msgspec.types == ['string', 'int64']
assert msgspec.names == ['data', 'data2']
assert msgspec.constants == []
assert msgspec.short_name == 'ValsTest'
assert msgspec.full_name == 'test_pkg/ValsTest'
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)
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_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_MsgContext():
from genmsg.msg_loader import MsgContext, load_msg_from_file
msg_context = MsgContext()
assert not msg_context.is_registered('time')
assert not msg_context.is_registered('duration')
msg_context = MsgContext.create_default()
# tripwires
repr(msg_context)
str(msg_context)
assert msg_context.is_registered('time'), msg_context._registered_packages
assert msg_context.is_registered('duration')
assert not msg_context.is_registered('test_ros/TestString')
assert not msg_context.is_registered('Header')
# start loading stuff into context
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'msg')
test_string_path = os.path.join(test_ros_dir, 'TestString.msg')
spec = load_msg_from_file(msg_context, test_string_path,
'test_ros/TestString')
msg_context.register('test_ros/TestString', spec)
assert msg_context.get_registered('test_ros/TestString') == spec
try:
msg_context.get_registered('bad/TestString')
assert False, 'should have raised'
except KeyError:
pass
assert msg_context.is_registered('test_ros/TestString')
# test Header
assert not msg_context.is_registered('Header')
assert not msg_context.is_registered('std_msgs/Header')
msg_context.register('std_msgs/Header', spec)
assert msg_context.is_registered('std_msgs/Header')
def test_default_value():
from genpy.generator import default_value
msg_context = MsgContext.create_default()
msg_context.register(
'fake_msgs/String',
MsgSpec(['string'], ['data'], [], 'string data\n', 'fake_msgs/String'))
msg_context.register(
'fake_msgs/ThreeNums',
MsgSpec(['int32', 'int32', 'int32'], ['x', 'y', 'z'], [],
'int32 x\nint32 y\nint32 z\n', 'fake_msgs/ThreeNums'))
# trip-wire: make sure all builtins have a default value
for t in genmsg.msgs.BUILTIN_TYPES:
assert type(default_value(msg_context, t, 'roslib')) == str
# simple types first
for t in [
'uint8', 'int8', 'uint16', 'int16', 'uint32', 'int32', 'uint64',
'int64', 'byte', 'char'
]:
assert '0' == default_value(msg_context, t, 'std_msgs')
assert '0' == default_value(msg_context, t, 'roslib')
for t in ['float32', 'float64']:
assert '0.' == default_value(msg_context, t, 'std_msgs')
assert '0.' == default_value(msg_context, t, 'roslib')
assert "''" == default_value(msg_context, 'string', 'roslib')
# builtin specials
assert 'genpy.Time()' == default_value(msg_context, 'time', 'roslib')
assert 'genpy.Duration()' == default_value(msg_context, 'duration',
'roslib')
assert 'std_msgs.msg._Header.Header()' == default_value(
msg_context, 'Header', 'roslib')
assert 'genpy.Time()' == default_value(msg_context, 'time', 'std_msgs')
assert 'genpy.Duration()' == default_value(msg_context, 'duration',
'std_msgs')
assert 'std_msgs.msg._Header.Header()' == default_value(
msg_context, 'Header', 'std_msgs')
# generic instances
# - unregistered type
assert default_value(msg_context, 'unknown_msgs/Foo',
'unknown_msgs') is None
# - wrong context
assert default_value(msg_context, 'ThreeNums', 'std_msgs') is None
# - registered types
assert 'fake_msgs.msg.String()' == default_value(msg_context,
'fake_msgs/String',
'std_msgs')
assert 'fake_msgs.msg.String()' == default_value(msg_context,
'fake_msgs/String',
'fake_msgs')
assert 'fake_msgs.msg.String()' == default_value(msg_context, 'String',
'fake_msgs')
assert 'fake_msgs.msg.ThreeNums()' == default_value(
msg_context, 'fake_msgs/ThreeNums', 'roslib')
assert 'fake_msgs.msg.ThreeNums()' == default_value(
msg_context, 'fake_msgs/ThreeNums', 'fake_msgs')
assert 'fake_msgs.msg.ThreeNums()' == default_value(
msg_context, 'ThreeNums', 'fake_msgs')
# var-length arrays always default to empty arrays... except for byte and uint8 which are strings
for t in [
'int8', 'uint16', 'int16', 'uint32', 'int32', 'uint64', 'int64',
'float32', 'float64'
]:
val = default_value(msg_context, t + '[]', 'std_msgs')
assert '[]' == val, '[%s]: %s' % (t, val)
assert '[]' == default_value(msg_context, t + '[]', 'roslib')
assert b'' == eval(default_value(msg_context, 'uint8[]', 'roslib'))
# fixed-length arrays should be zero-filled... except for byte and uint8 which are strings
for t in ['float32', 'float64']:
assert '[0.] * 3' == default_value(msg_context, t + '[3]', 'std_msgs')
assert '[0.] * 1' == default_value(msg_context, t + '[1]', 'std_msgs')
for t in ['int8', 'uint16', 'int16', 'uint32', 'int32', 'uint64', 'int64']:
assert '[0] * 4' == default_value(msg_context, t + '[4]', 'std_msgs')
assert '[0] * 1' == default_value(msg_context, t + '[1]', 'roslib')
assert b'\0' == eval(default_value(msg_context, 'uint8[1]', 'roslib'))
assert b'\0\0\0\0' == eval(default_value(msg_context, 'uint8[4]',
'roslib'))
assert '[]' == default_value(msg_context, 'fake_msgs/String[]', 'std_msgs')
assert '[fake_msgs.msg.String() for _ in range(2)]' == default_value(
msg_context, 'fake_msgs/String[2]', 'std_msgs')
def test_MsgContext():
from genmsg.msg_loader import MsgContext, load_msg_from_file
msg_context = MsgContext()
assert not msg_context.is_registered("time")
assert not msg_context.is_registered("duration")
msg_context = MsgContext.create_default()
# tripwires
repr(msg_context)
str(msg_context)
assert msg_context.is_registered("time"), msg_context._registered_packages
assert msg_context.is_registered("duration")
assert not msg_context.is_registered("test_ros/TestString")
assert not msg_context.is_registered("Header")
# start loading stuff into context
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, "test_ros", "msg")
test_string_path = os.path.join(test_ros_dir, "TestString.msg")
spec = load_msg_from_file(msg_context, test_string_path, "test_ros/TestString")
msg_context.register("test_ros/TestString", spec)
assert msg_context.get_registered("test_ros/TestString") == spec
try:
msg_context.get_registered("bad/TestString")
assert False, "should have raised"
except KeyError:
pass
assert msg_context.is_registered("test_ros/TestString")
# test Header
assert not msg_context.is_registered("Header")
assert not msg_context.is_registered("std_msgs/Header")
msg_context.register("std_msgs/Header", spec)
assert msg_context.is_registered("std_msgs/Header")
def test_MsgContext():
from genmsg.msg_loader import MsgContext, load_msg_from_file
msg_context = MsgContext()
assert not msg_context.is_registered('time')
assert not msg_context.is_registered('duration')
msg_context = MsgContext.create_default()
# tripwires
repr(msg_context)
str(msg_context)
assert msg_context.is_registered('time'), msg_context._registered_packages
assert msg_context.is_registered('duration')
assert not msg_context.is_registered('test_ros/TestString')
assert not msg_context.is_registered('Header')
# start loading stuff into context
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'msg')
test_string_path = os.path.join(test_ros_dir, 'TestString.msg')
spec = load_msg_from_file(msg_context, test_string_path, 'test_ros/TestString')
msg_context.register('test_ros/TestString', spec)
assert msg_context.get_registered('test_ros/TestString') == spec
try:
msg_context.get_registered('bad/TestString')
assert False, 'should have raised'
except KeyError:
pass
assert msg_context.is_registered('test_ros/TestString')
# test Header
assert not msg_context.is_registered('Header')
assert not msg_context.is_registered('std_msgs/Header')
msg_context.register('std_msgs/Header', spec)
assert msg_context.is_registered('std_msgs/Header')
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_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)
print('Unable to import ROS1 tools. Please source a ROS1 installation first.', end='', file=sys.stderr)
sys.exit(1)
import argparse
import copy
import em
import os
import sys
if sys.version_info[0] > 2:
from io import StringIO as BufferIO
else:
from io import BytesIO as BufferIO
g_msg_context = MsgContext()
def get_type_components(full_type):
if full_type == 'Header':
return ('std_msgs', 'Header')
components = full_type.split('/')
if len(components) != 2:
raise ValueError('Unexpected value for message type string: {}'.format(full_type))
package = components[0]
end = components[1].find('[')
if end == -1:
type = components[1]
else:
def test_default_value():
from genpy.generator import default_value
msg_context = MsgContext.create_default()
msg_context.register('fake_msgs/String', MsgSpec(['string'], ['data'], [], 'string data\n', 'fake_msgs/String'))
msg_context.register('fake_msgs/ThreeNums', MsgSpec(['int32', 'int32', 'int32'], ['x', 'y', 'z'], [], 'int32 x\nint32 y\nint32 z\n', 'fake_msgs/ThreeNums'))
# trip-wire: make sure all builtins have a default value
for t in genmsg.msgs.BUILTIN_TYPES:
assert type(default_value(msg_context, t, 'roslib')) == str
# simple types first
for t in ['uint8', 'int8', 'uint16', 'int16', 'uint32', 'int32', 'uint64', 'int64', 'byte', 'char']:
assert '0' == default_value(msg_context, t, 'std_msgs')
assert '0' == default_value(msg_context, t, 'roslib')
for t in ['float32', 'float64']:
assert '0.' == default_value(msg_context, t, 'std_msgs')
assert '0.' == default_value(msg_context, t, 'roslib')
assert "''" == default_value(msg_context, 'string', 'roslib')
# builtin specials
assert 'genpy.Time()' == default_value(msg_context, 'time', 'roslib')
assert 'genpy.Duration()' == default_value(msg_context, 'duration', 'roslib')
assert 'std_msgs.msg._Header.Header()' == default_value(msg_context, 'Header', 'roslib')
assert 'genpy.Time()' == default_value(msg_context, 'time', 'std_msgs')
assert 'genpy.Duration()' == default_value(msg_context, 'duration', 'std_msgs')
assert 'std_msgs.msg._Header.Header()' == default_value(msg_context, 'Header', 'std_msgs')
# generic instances
# - unregistered type
assert None == default_value(msg_context, "unknown_msgs/Foo", "unknown_msgs")
# - wrong context
assert None == default_value(msg_context, 'ThreeNums', 'std_msgs')
# - registered types
assert 'fake_msgs.msg.String()' == default_value(msg_context, 'fake_msgs/String', 'std_msgs')
assert 'fake_msgs.msg.String()' == default_value(msg_context, 'fake_msgs/String', 'fake_msgs')
assert 'fake_msgs.msg.String()' == default_value(msg_context, 'String', 'fake_msgs')
assert 'fake_msgs.msg.ThreeNums()' == default_value(msg_context, 'fake_msgs/ThreeNums', 'roslib')
assert 'fake_msgs.msg.ThreeNums()' == default_value(msg_context, 'fake_msgs/ThreeNums', 'fake_msgs')
assert 'fake_msgs.msg.ThreeNums()' == default_value(msg_context, 'ThreeNums', 'fake_msgs')
# var-length arrays always default to empty arrays... except for byte and uint8 which are strings
for t in ['int8', 'uint16', 'int16', 'uint32', 'int32', 'uint64', 'int64', 'float32', 'float64']:
val = default_value(msg_context, t+'[]', 'std_msgs')
assert '[]' == val, "[%s]: %s"%(t, val)
assert '[]' == default_value(msg_context, t+'[]', 'roslib')
assert b'' == eval(default_value(msg_context, 'uint8[]', 'roslib'))
# fixed-length arrays should be zero-filled... except for byte and uint8 which are strings
for t in ['float32', 'float64']:
assert '[0.] * 3' == default_value(msg_context, t+'[3]', 'std_msgs')
assert '[0.] * 1' == default_value(msg_context, t+'[1]', 'std_msgs')
for t in ['int8', 'uint16', 'int16', 'uint32', 'int32', 'uint64', 'int64']:
assert '[0] * 4' == default_value(msg_context, t+'[4]', 'std_msgs')
assert '[0] * 1' == default_value(msg_context, t+'[1]', 'roslib')
assert b'\0' == eval(default_value(msg_context, 'uint8[1]', 'roslib'))
assert b'\0\0\0\0' == eval(default_value(msg_context, 'uint8[4]', 'roslib'))
assert '[]' == default_value(msg_context, 'fake_msgs/String[]', 'std_msgs')
assert '[fake_msgs.msg.String() for _ in range(2)]' == default_value(msg_context, 'fake_msgs/String[2]', 'std_msgs')
def test_load_srv_by_type():
from genmsg.msg_loader import load_srv_by_type, MsgContext, MsgNotFound
test_d = get_test_dir()
test_ros_dir = os.path.join(test_d, 'test_ros', 'srv')
std_srvs_dir = os.path.join(test_d, 'std_srvs', 'srv')
empty_path = os.path.join(std_srvs_dir, 'Empty.srv')
a2i_path = os.path.join(std_srvs_dir, 'AddTwoInts.srv')
search_path = {
'test_ros': [test_ros_dir],
'std_srvs': [std_srvs_dir],
}
msg_context = MsgContext.create_default()
spec = load_srv_by_type(msg_context, 'std_srvs/Empty', search_path)
assert msg_context.is_registered('std_srvs/EmptyRequest')
assert msg_context.is_registered('std_srvs/EmptyResponse')
assert msg_context.get_registered('std_srvs/EmptyRequest') == spec.request
assert msg_context.get_registered(
'std_srvs/EmptyResponse') == spec.response
assert msg_context.get_file(
'std_srvs/EmptyRequest') == empty_path, msg_context.get_file(
'std_srvs/EmptyRequest')
assert msg_context.get_file(
'std_srvs/EmptyResponse') == empty_path, msg_context.get_file(
'std_srvs/EmptyResponse')
assert spec.request.full_name == 'std_srvs/EmptyRequest'
assert spec.response.full_name == 'std_srvs/EmptyResponse'
assert spec.request.short_name == 'EmptyRequest'
assert spec.response.short_name == 'EmptyResponse'
assert spec.request.package == 'std_srvs'
assert spec.response.package == 'std_srvs'
for f in [
spec.request.names, spec.request.types, spec.response.names,
spec.response.types
]:
assert [] == f
spec = load_srv_by_type(msg_context, 'test_ros/AddTwoInts', search_path)
assert msg_context.is_registered('test_ros/AddTwoIntsRequest')
assert msg_context.is_registered('test_ros/AddTwoIntsResponse')
assert msg_context.get_registered(
'test_ros/AddTwoIntsRequest') == spec.request
assert msg_context.get_registered(
'test_ros/AddTwoIntsResponse') == spec.response
assert spec.request.types == ['int64', 'int64'], spec.request.types
assert spec.request.names == ['a', 'b'], spec.request.names
assert spec.response.types == ['int64'], spec.response.types
assert spec.response.names == ['sum'], spec.response.names
# test invalid search path
try:
load_srv_by_type(msg_context, 'test_ros/AddTwoInts', [std_srvs_dir])
assert False, "should have raised"
except ValueError:
pass
# test not found
try:
load_srv_by_type(msg_context, 'test_ros/Fake', search_path)
assert False, "should have raised"
except MsgNotFound:
pass
def test_compute_import():
import genpy.generator
msg_context = MsgContext.create_default()
assert [] == genpy.generator.compute_import(msg_context, 'foo', 'bar')
assert [] == genpy.generator.compute_import(msg_context, 'foo', 'int32')
msg_context.register(
'ci_msgs/Base',
MsgSpec(['int8'], ['data'], [], 'int8 data\n', 'ci_msgs/Base'))
msg_context.register(
'ci2_msgs/Base2',
MsgSpec(['ci_msgs/Base'], ['data2'], [], 'ci_msgs/Base data2\n',
'ci2_msgs/Base2'))
msg_context.register(
'ci3_msgs/Base3',
MsgSpec(['ci2_msgs/Base2'], ['data3'], [], 'ci2_msgs/Base2 data3\n',
'ci3_msgs/Base3'))
msg_context.register(
'ci4_msgs/Base',
MsgSpec(['int8'], ['data'], [], 'int8 data\n', 'ci4_msgs/Base'))
msg_context.register(
'ci4_msgs/Base4',
MsgSpec(['ci2_msgs/Base2', 'ci3_msgs/Base3'], ['data4a', 'data4b'], [],
'ci2_msgs/Base2 data4a\nci3_msgs/Base3 data4b\n',
'ci4_msgs/Base4'))
msg_context.register(
'ci5_msgs/Base',
MsgSpec(['time'], ['data'], [], 'time data\n', 'ci5_msgs/Base'))
assert ['import ci_msgs.msg'
] == genpy.generator.compute_import(msg_context, 'foo',
'ci_msgs/Base')
assert ['import ci_msgs.msg'
] == genpy.generator.compute_import(msg_context, 'ci_msgs',
'ci_msgs/Base')
assert ['import ci2_msgs.msg', 'import ci_msgs.msg'
] == genpy.generator.compute_import(msg_context, 'ci2_msgs',
'ci2_msgs/Base2')
assert ['import ci2_msgs.msg', 'import ci_msgs.msg'
] == genpy.generator.compute_import(msg_context, 'foo',
'ci2_msgs/Base2')
assert [
'import ci3_msgs.msg', 'import ci2_msgs.msg', 'import ci_msgs.msg'
] == genpy.generator.compute_import(msg_context, 'ci3_msgs',
'ci3_msgs/Base3')
assert {
'import ci4_msgs.msg', 'import ci3_msgs.msg', 'import ci2_msgs.msg',
'import ci_msgs.msg'
} == set(
genpy.generator.compute_import(msg_context, 'foo', 'ci4_msgs/Base4'))
assert {
'import ci4_msgs.msg', 'import ci3_msgs.msg', 'import ci2_msgs.msg',
'import ci_msgs.msg'
} == set(
genpy.generator.compute_import(msg_context, 'ci4_msgs',
'ci4_msgs/Base4'))
assert ['import ci4_msgs.msg'
] == genpy.generator.compute_import(msg_context, 'foo',
'ci4_msgs/Base')
assert ['import ci4_msgs.msg'
] == genpy.generator.compute_import(msg_context, 'ci4_msgs',
'ci4_msgs/Base')
assert ['import ci4_msgs.msg'
] == genpy.generator.compute_import(msg_context, 'ci4_msgs',
'Base')
assert ['import ci5_msgs.msg', 'import genpy'
] == genpy.generator.compute_import(msg_context, 'foo',
'ci5_msgs/Base')