def test_add_filter():
filter = AddFilter()
parser = argparse.ArgumentParser('add')
filter.add_arguments(parser)
args = parser.parse_args(
['-t', '/data', '--type', 'example_interfaces/msg/String', '-v', 'test/data.yaml',
'--align-to', '/align'])
filter.set_args(None, args)
topic_metadata = TopicMetadata(
'/align', 'example_interfaces/msg/String', 'cdr')
topics = filter.filter_topic(topic_metadata)
assert(len(topics) == 2)
assert(topics[0].name == '/align')
assert(topics[0].type == 'example_interfaces/msg/String')
assert(topics[1].name == '/data')
assert(topics[1].type == 'example_interfaces/msg/String')
msg = String()
msg.data = 'align'
msgs = filter.filter_msg(('/align', serialize_message(msg), 1))
assert(len(msgs) == 2)
(topic0, data0, t0) = msgs[0]
(topic1, data1, t1) = msgs[1]
assert(topic0 == '/align')
assert(topic1 == '/data')
assert(t0 == t1)
assert(deserialize_message(data0, String).data == 'align')
assert(deserialize_message(data1, String).data == 'out')
def create_diagnostics_bag(path):
writer = SequentialWriter()
storage_options, converter_options = get_rosbag_options(path)
writer.open(storage_options, converter_options)
topic = TopicMetadata('/diagnostics',
'diagnostic_msgs/msg/DiagnosticArray', 'cdr')
writer.create_topic(topic)
msg = DiagnosticArray()
writer.write('/diagnostics', serialize_message(msg), 1000)
def create_test_bag(path):
writer = SequentialWriter()
storage_options, converter_options = get_rosbag_options(path)
writer.open(storage_options, converter_options)
topic = TopicMetadata('/data', 'example_interfaces/msg/String', 'cdr')
writer.create_topic(topic)
msg = String()
msg.data = 'test_start'
writer.write('/data', serialize_message(msg), 1000)
msg.data = 'test_end'
writer.write('/data', serialize_message(msg), CONVERSION_CONSTANT + 2000)
def create_multi_topic_bag(path):
writer = SequentialWriter()
storage_options = StorageOptions(uri=path, storage_id='sqlite3')
converter_options = ConverterOptions(
input_serialization_format='cdr',
output_serialization_format='cdr')
writer.open(storage_options, converter_options)
topic = TopicMetadata('/range', 'sensor_msgs/msg/Range', 'cdr')
writer.create_topic(topic)
topic = TopicMetadata('/diagnostics', 'diagnostic_msgs/msg/KeyValue', 'cdr')
writer.create_topic(topic)
msg = Range()
msg.header.stamp.sec = 0
msg.header.stamp.nanosec = 90
msg.range = 10.0
writer.write('/range', serialize_message(msg), 100)
msg = KeyValue()
msg.key = 'cpu'
msg.value = 'warn'
writer.write('/diagnostics', serialize_message(msg), 200)
def test_rename_filter():
filter = RenameFilter()
parser = argparse.ArgumentParser('rename')
filter.add_arguments(parser)
args = parser.parse_args(['-t', '/data', '--name', '/renamed'])
filter.set_args(None, args)
topic_metadata = TopicMetadata(
'/data', 'example_interfaces/msg/String', 'cdr')
assert(filter.filter_topic(topic_metadata).name == '/renamed')
msg = String()
msg.data = 'test'
# timestamp within the bag and cut duration
bag_msg = ('/data', serialize_message(msg), 1)
(topic, _, _) = filter.filter_msg(bag_msg)
assert(topic == '/renamed')
def create_day_time_bag(path):
writer = SequentialWriter()
storage_options, converter_options = get_rosbag_options(path)
writer.open(storage_options, converter_options)
topic = TopicMetadata('/data', 'example_interfaces/msg/String', 'cdr')
writer.create_topic(topic)
HOUR_TO_NS = 60 * 60 * CONVERSION_CONSTANT
msg = String()
msg.data = 'msg0'
writer.write('/data', serialize_message(msg), 13 * HOUR_TO_NS - 1000)
msg.data = 'msg1'
writer.write('/data', serialize_message(msg), 13 * HOUR_TO_NS)
msg.data = 'msg2'
writer.write('/data', serialize_message(msg), 14 * HOUR_TO_NS)
msg.data = 'msg2'
writer.write('/data', serialize_message(msg), 14 * HOUR_TO_NS + 1000)
def test_restamp_filter():
filter = RestampFilter()
parser = argparse.ArgumentParser('restamp')
filter.add_arguments(parser)
args = parser.parse_args([])
filter.set_args(None, args)
topic_metadata = TopicMetadata(
'/data', 'diagnostic_msgs/msg/DiagnosticArray', 'cdr')
assert(filter.filter_topic(topic_metadata) == topic_metadata)
ns_stamp = 500 * 1000 * 1000 - 100
msg = DiagnosticArray()
msg.header.stamp.sec = 0
msg.header.stamp.nanosec = ns_stamp
# timestamp within the bag and cut duration
bag_msg = ('/data', serialize_message(msg), 500 * 1000 * 1000)
(_, _, t) = filter.filter_msg(bag_msg)
assert(t == ns_stamp)
def test_reframe_filter():
filter = ReframeFilter()
parser = argparse.ArgumentParser('reframe')
filter.add_arguments(parser)
args = parser.parse_args(['-t', '/data', '--frame', 'frame1'])
filter.set_args(None, args)
topic_metadata = TopicMetadata(
'/data', 'diagnostic_msgs/msg/DiagnosticArray', 'cdr')
assert(filter.filter_topic(topic_metadata) == topic_metadata)
msg = DiagnosticArray()
msg.header.frame_id = 'frame0'
msg.header.stamp.sec = 0
msg.header.stamp.nanosec = 1
# timestamp within the bag and cut duration
bag_msg = ('/data', serialize_message(msg), 1)
(_, data, _) = filter.filter_msg(bag_msg)
new_msg = deserialize_message(data, DiagnosticArray)
assert(new_msg.header.frame_id == 'frame1')
def test_replace_filter():
filter = ReplaceFilter()
parser = argparse.ArgumentParser('replace')
filter.add_arguments(parser)
args = parser.parse_args(['-t', '/data', '-v', 'test/data.yaml'])
filter.set_args(None, args)
string_msg = String()
string_msg.data = 'in'
msg = ('/data', serialize_message(string_msg), 0)
with pytest.raises(RuntimeError):
# if topic hasn't been found, filter_msg fails with error
filter.filter_msg(msg)
topic_metadata = TopicMetadata(
'/data', 'example_interfaces/msg/String', 'cdr')
assert(filter.filter_topic(topic_metadata) == topic_metadata)
(topic, result_data, t) = filter.filter_msg(msg)
assert(topic == '/data')
result_msg = deserialize_message(result_data, String)
assert(result_msg.data == 'out')
assert(t == 0)