def test_scan_with_rosbag2(caplog, tmpdir):
# Scan normally traverses into subdirectories, details of bag detection handled above already
dirnames = ['subdir']
rv = scan('/scanroot', dirnames, ['foo.bag', 'bar.bag'])
assert dirnames == ['subdir']
assert len(rv) == 2
# Create one fake rosbag2, the yaml on filesystem will be opened by scanner;
# extradir and extrafile are not needed on filesystem as they are passed into scan function
scanroot = Path(tmpdir)
rb2 = (scanroot / 'rb2')
rb2.mkdir()
(rb2 / 'metadata.yaml').write_text(
yaml.dump({
'rosbag2_bagfile_information': {
'relative_file_paths': [
'foo.db3',
'bar.db3',
],
'storage_identifier': 'sqlite3',
'topics_with_message_count': [],
'version': 4,
},
}))
(rb2 / 'foo.db3').write_text('')
(rb2 / 'bar.db3').write_text('')
# Extra dirs and files in rosbag2 are ignored and trigger warning
dirnames = ['extradir']
with caplog.at_level(logging.WARNING):
rv = scan(str(rb2), dirnames,
['metadata.yaml', 'foo.db3', 'bar.db3', 'extrafile'])
assert rv == [DSI('rb2', ['metadata.yaml', 'foo.db3', 'bar.db3'])]
assert dirnames == []
assert caplog.record_tuples == [
(f'{scan.__module__}.{scan.__name__}', logging.WARNING,
f"Ignoring subdirectories of dataset {rb2}: ['extradir']"),
(f'{scan.__module__}.{scan.__name__}', logging.WARNING,
f"Ignoring files not listed in metadata.yaml {rb2}: ['extrafile']"),
]
# No reason for warnings
caplog.clear()
dirnames = []
with caplog.at_level(logging.WARNING):
rv = scan(str(rb2), dirnames, ['metadata.yaml', 'foo.db3', 'bar.db3'])
assert rv == [DSI('rb2', ['metadata.yaml', 'foo.db3', 'bar.db3'])]
assert caplog.record_tuples == []
def test_scan_without_timestamp():
assert scan('/', [''],
['foo_0.bag', 'foo_1.bag', 'foo_3.bag', 'foo_4.bag']) == [
DSI(name='foo', files=['foo_0.bag', 'foo_1.bag']),
DSI(name='foo_3', files=['foo_3.bag']),
DSI(name='foo_4', files=['foo_4.bag']),
]
def test_rosbag_sets(self):
rv = scan('/', [''], [
'set0_0000-00-00-00-00-00_0.bag', 'set0_0000-01-00-00-00-00_1.bag',
'set0_0000-02-00-00-00-00_2.bag', 'set1_0000-00-00-00-00-00_0.bag',
'set1_0000-01-00-00-00-00_1.bag', 'set1_0000-02-00-00-00-00_2.bag',
'set2.bag', 'set2_0000-00-00-00-00-00_0.bag',
'set2_0000-00-00-00-00-00_1.bag', 'set2_0000-00-00-00-00-00_2.bag'
])
self.assertEqual(rv, [
DSI(name='set0',
files=[
'set0_0000-00-00-00-00-00_0.bag',
'set0_0000-01-00-00-00-00_1.bag',
'set0_0000-02-00-00-00-00_2.bag'
]),
DSI(name='set1',
files=[
'set1_0000-00-00-00-00-00_0.bag',
'set1_0000-01-00-00-00-00_1.bag',
'set1_0000-02-00-00-00-00_2.bag'
]),
DSI(name='set2', files=['set2.bag']),
DSI(name='set2',
files=[
'set2_0000-00-00-00-00-00_0.bag',
'set2_0000-00-00-00-00-00_1.bag',
'set2_0000-00-00-00-00-00_2.bag'
])
])
def test_missing_index(self):
rv = scan('/', [''], ['foo_0000-11-00-00-00-00.bag',
'foo_0000-22-00-00-00-00.bag'])
self.assertEqual(rv, [
DSI(name='foo_0000-11-00-00-00-00', files=['foo_0000-11-00-00-00-00.bag']),
DSI(name='foo_0000-22-00-00-00-00', files=['foo_0000-22-00-00-00-00.bag']),
])
def test_scan_rosbag_sets():
assert scan('/', [''], [
'set0_0000-00-00-00-00-00_0.bag',
'set0_0000-01-00-00-00-00_1.bag',
'set0_0000-02-00-00-00-00_2.bag',
'set1_0000-00-00-00-00-00_0.bag',
'set1_0000-01-00-00-00-00_1.bag',
'set1_0000-02-00-00-00-00_2.bag',
'set2.bag',
'set2_0000-00-00-00-00-00_0.bag',
'set2_0000-00-00-00-00-00_1.bag',
'set2_0000-00-00-00-00-00_2.bag',
]) == [
DSI(name='set0',
files=[
'set0_0000-00-00-00-00-00_0.bag',
'set0_0000-01-00-00-00-00_1.bag',
'set0_0000-02-00-00-00-00_2.bag'
]),
DSI(name='set1',
files=[
'set1_0000-00-00-00-00-00_0.bag',
'set1_0000-01-00-00-00-00_1.bag',
'set1_0000-02-00-00-00-00_2.bag'
]),
DSI(name='set2', files=['set2.bag']),
DSI(name='set2',
files=[
'set2_0000-00-00-00-00-00_0.bag',
'set2_0000-00-00-00-00-00_1.bag',
'set2_0000-00-00-00-00-00_2.bag'
]),
]
def test_without_timestamp(self):
rv = scan('/', [''],
['foo_0.bag', 'foo_1.bag', 'foo_3.bag', 'foo_4.bag'])
self.assertEqual(rv, [
DSI(name='foo', files=['foo_0.bag', 'foo_1.bag']),
DSI(name='foo_3', files=['foo_3.bag']),
DSI(name='foo_4', files=['foo_4.bag'])
])
def test_mixed_edge_cases(self):
rv = scan('/', [''], ['set0_0000-00-00-00-00-00_0.bag',
'set0_1.bag',
'set0_1000-00-00-00-00-00_2.bag'])
self.assertEqual(rv, [
DSI(name='set0', files=['set0_0000-00-00-00-00-00_0.bag']),
DSI(name='set0_1', files=['set0_1.bag']),
DSI(name='set0_1000-00-00-00-00-00_2', files=['set0_1000-00-00-00-00-00_2.bag']),
])
def test_scan_missing_index():
assert scan('/', [''], [
'foo_0000-11-00-00-00-00.bag',
'foo_0000-22-00-00-00-00.bag',
]) == [
DSI(name='foo_0000-11-00-00-00-00',
files=['foo_0000-11-00-00-00-00.bag']),
DSI(name='foo_0000-22-00-00-00-00',
files=['foo_0000-22-00-00-00-00.bag']),
]
def test_scan_mixed_edge_cases():
assert scan('/', [''], [
'set0_0000-00-00-00-00-00_0.bag',
'set0_1.bag',
'set0_1000-00-00-00-00-00_2.bag',
]) == [
DSI(name='set0', files=['set0_0000-00-00-00-00-00_0.bag']),
DSI(name='set0_1', files=['set0_1.bag']),
DSI(name='set0_1000-00-00-00-00-00_2',
files=['set0_1000-00-00-00-00-00_2.bag']),
]
def test_scan_broken_set_edge_cases(self):
rv = scan('/', [''], ['set0_0000-00-00-00-00-00_0.bag',
'set0_0000-00-00-00-00-00_2.bag',
'set1_0000-00-00-00-00-00_1.bag',
'set1_0000-00-00-00-00-00_2.bag',
'set2.bag',
'set2_0000-00-00-00-00-00_1.bag',
'set2_0000-00-00-00-00-00_2.bag'])
self.assertEqual(rv, [
DSI(name='set0', files=['set0_0000-00-00-00-00-00_0.bag']),
DSI(name='set0_0000-00-00-00-00-00_2', files=['set0_0000-00-00-00-00-00_2.bag']),
DSI(name='set1_0000-00-00-00-00-00_1', files=['set1_0000-00-00-00-00-00_1.bag']),
DSI(name='set1_0000-00-00-00-00-00_2', files=['set1_0000-00-00-00-00-00_2.bag']),
DSI(name='set2', files=['set2.bag']),
DSI(name='set2_0000-00-00-00-00-00_1', files=['set2_0000-00-00-00-00-00_1.bag']),
DSI(name='set2_0000-00-00-00-00-00_2', files=['set2_0000-00-00-00-00-00_2.bag']),
])
def test_scan_broken_set_edge_cases():
assert scan('/', [''], [
'set0_0000-00-00-00-00-00_0.bag',
'set0_0000-00-00-00-00-00_2.bag',
'set1_0000-00-00-00-00-00_1.bag',
'set1_0000-00-00-00-00-00_2.bag',
'set2.bag',
'set2_0000-00-00-00-00-00_1.bag',
'set2_0000-00-00-00-00-00_2.bag',
]) == [
DSI(name='set0', files=['set0_0000-00-00-00-00-00_0.bag']),
DSI(name='set0_0000-00-00-00-00-00_2',
files=['set0_0000-00-00-00-00-00_2.bag']),
DSI(name='set1_0000-00-00-00-00-00_1',
files=['set1_0000-00-00-00-00-00_1.bag']),
DSI(name='set1_0000-00-00-00-00-00_2',
files=['set1_0000-00-00-00-00-00_2.bag']),
DSI(name='set2', files=['set2.bag']),
DSI(name='set2_0000-00-00-00-00-00_1',
files=['set2_0000-00-00-00-00-00_1.bag']),
DSI(name='set2_0000-00-00-00-00-00_2',
files=['set2_0000-00-00-00-00-00_2.bag']),
]
def test_scan_without_prefix():
assert scan('/', [''], [
'0000-00-00-00-00-00.bag',
'0000-00-00-00-00-00_0.bag',
'0000-01-00-00-00-00_1.bag',
'0000-02-00-00-00-00_2.bag',
'0000-03-00-00-00-00_0.bag',
'0000-04-00-00-00-00_1.bag',
'0000-05-00-00-00-00_2.bag',
'0000-06-00-00-00-00.bag',
'0000-07-00-00-00-00.bag',
'0000-08-00-00-00-00_0.bag',
'0000-09-00-00-00-00_1.bag',
'0000-10-00-00-00-00_2.bag',
]) == [
DSI(name='0000-00-00-00-00-00', files=['0000-00-00-00-00-00.bag']),
DSI(name='0000-00-00-00-00-00',
files=[
'0000-00-00-00-00-00_0.bag',
'0000-01-00-00-00-00_1.bag',
'0000-02-00-00-00-00_2.bag',
]),
DSI(name='0000-03-00-00-00-00',
files=[
'0000-03-00-00-00-00_0.bag',
'0000-04-00-00-00-00_1.bag',
'0000-05-00-00-00-00_2.bag',
]),
DSI(name='0000-06-00-00-00-00', files=['0000-06-00-00-00-00.bag']),
DSI(name='0000-07-00-00-00-00', files=['0000-07-00-00-00-00.bag']),
DSI(name='0000-08-00-00-00-00',
files=[
'0000-08-00-00-00-00_0.bag',
'0000-09-00-00-00-00_1.bag',
'0000-10-00-00-00-00_2.bag',
]),
]
def test_scan_not_a_rosbag2(caplog, tmpdir):
# Create one rosbag2, the yaml on filesystem will be opened by scanner;
# extradir and extrafile are not needed on filesystem as they are passed into scan function
scanroot = Path(tmpdir)
rb2 = (scanroot / 'rb2')
rb2.mkdir()
(rb2 / 'metadata.yaml').write_text(
yaml.dump({
'NOT_rosbag2': {
'relative_file_paths': [
'foo.db3',
'bar.db3',
],
},
}))
# Extra dirs and files in rosbag2 are ignored and trigger warning
dirnames = ['extradir']
with caplog.at_level(logging.WARNING):
rv = scan(str(rb2), dirnames,
['metadata.yaml', 'foo.db3', 'bar.db3', 'extrafile'])
assert len(rv) == 0
assert dirnames == ['extradir']
assert caplog.record_tuples == []
def test_scan_nonbag():
assert scan('/', [''], ['a', 'b']) == []
def test_single_bags(self):
rv = scan('/', [''], ['foo.bag', 'bar.bag'])
self.assertEqual(rv, [
DSI(name='foo', files=['foo.bag']),
DSI(name='bar', files=['bar.bag'])
])
def test_nonbag(self):
rv = scan('/', [''], ['a', 'b'])
self.assertEqual(rv, [])
def test_scan_single_bags():
assert scan('/', [''], ['foo.bag', 'bar.bag']) == [
DSI(name='foo', files=['foo.bag']),
DSI(name='bar', files=['bar.bag']),
]
