def do_test(self, name, old_msg, new_msg):
# Name the bags
oldbag = "%s/test/%s_old.bag" % (self.pkg_dir, name)
newbag = "%s/test/%s_new.bag" % (self.pkg_dir, name)
# Create an old message
bag = rosbag.Bag(oldbag, 'w')
bag.write("topic", old_msg(), roslib.rostime.Time())
bag.close()
# Check and migrate
res = rosbagmigration.checkbag(migrator, oldbag)
self.assertTrue(not False in [m[1] == [] for m in res],
'Bag not ready to be migrated')
res = rosbagmigration.fixbag(migrator, oldbag, newbag)
self.assertTrue(res, 'Bag not converted successfully')
# Pull the first message out of the bag
topic, msg, t = rosbag.Bag(newbag).read_messages().next()
# Reserialize the new message so that floats get screwed up, etc.
m = new_msg()
buff = StringIO()
m.serialize(buff)
m.deserialize(buff.getvalue())
# Strifying them helps make the comparison easier until I figure out why the equality operator is failing
self.assertTrue(
roslib.message.strify_message(msg) ==
roslib.message.strify_message(m))
# self.assertTrue(msgs[0][1] == m)
#Cleanup
os.remove(oldbag)
os.remove(newbag)
def do_test(self, name, old_msg, new_msg):
# Name the bags
oldbag = "%s/test/%s_old.bag"%(self.pkg_dir,name)
newbag = "%s/test/%s_new.bag"%(self.pkg_dir,name)
# Create an old message
bag = rosbag.Bag(oldbag, 'w')
bag.write("topic", old_msg(), roslib.rostime.Time())
bag.close()
# Check and migrate
res = rosbagmigration.checkbag(migrator, oldbag)
self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
res = rosbagmigration.fixbag(migrator, oldbag, newbag)
self.assertTrue(res, 'Bag not converted successfully')
# Pull the first message out of the bag
topic, msg, t = rosbag.Bag(newbag).read_messages().next()
# Reserialize the new message so that floats get screwed up, etc.
m = new_msg()
buff = StringIO()
m.serialize(buff)
m.deserialize(buff.getvalue())
# Strifying them helps make the comparison easier until I figure out why the equality operator is failing
self.assertTrue(roslib.message.strify_message(msg) == roslib.message.strify_message(m))
# self.assertTrue(msgs[0][1] == m)
#Cleanup
os.remove(oldbag)
os.remove(newbag)
def do_test_renamed(self, N):
tmp_rule_files = [
'migrated_explicit_rules.py', 'migrated_mixed_rules.py',
'migrated_addsub_rules.py', 'renamed_rules.py'
]
rule_files = ["%s/test/%s" % (self.pkg_dir, r) for r in tmp_rule_files]
inbag = "%s/test/renamed_gen%d.bag" % (self.pkg_dir, N)
outbag = "%s/test/renamed_gen%d.fixed.bag" % (self.pkg_dir, N)
mm = rosbagmigration.MessageMigrator(rule_files, False)
res = rosbagmigration.checkbag(mm, inbag)
self.assertTrue(not False in [m[1] == [] for m in res],
'Bag not ready to be migrated')
res = rosbagmigration.fixbag(mm, inbag, outbag)
self.assertTrue(res, 'Bag not converted successfully')
msgs = [msg for msg in rosrecord.logplayer(outbag)]
self.assertTrue(len(msgs) > 0)
self.assertEqual(msgs[0][1]._type, 'test_rosbagmigration/Renamed4',
'Type name is wrong')
self.assertEqual(msgs[0][1].foo,
struct.unpack('<d', struct.pack('<d', 2.17))[0])
self.assertEqual(msgs[0][1].bar, (8, 2, 5, 1))
def do_test_migrated_mixed(self, N):
tmp_rule_files = [
'migrated_explicit_rules.py', 'migrated_mixed_rules.py',
'migrated_addsub_rules.py'
]
rule_files = ["%s/test/%s" % (self.pkg_dir, r) for r in tmp_rule_files]
inbag = "%s/test/migrated_mixed_gen%d.bag" % (self.pkg_dir, N)
outbag = "%s/test/migrated_mixed_gen%d.fixed.bag" % (self.pkg_dir, N)
mm = rosbagmigration.MessageMigrator(rule_files, False)
res = rosbagmigration.checkbag(mm, inbag)
self.assertTrue(not False in [m[1] == [] for m in res],
'Bag not ready to be migrated')
res = rosbagmigration.fixbag(mm, inbag, outbag)
self.assertTrue(res, 'Bag not converted successfully')
msgs = [msg for msg in rosrecord.logplayer(outbag)]
self.assertTrue(len(msgs) > 0)
self.assertEqual(msgs[0][1].field1.field4.afield2,
struct.unpack('<f', struct.pack('<f', 58.2))[0])
self.assertEqual(msgs[0][1].field1.field4.combo_field3, "aldfkja 17")
self.assertEqual(msgs[0][1].field1.field4.afield4, 82)
self.assertEqual(msgs[0][1].field1.field1, 34)
self.assertEqual(msgs[0][1].field1.field2,
struct.unpack('<f', struct.pack('<f', 16.32))[0])
self.assertEqual(msgs[0][1].field1.field3, "kljene")
self.assertEqual(msgs[0][1].field2, 59)
def do_test(self, name, old_msg, new_msg):
# Name the bags
oldbag = "%s/test/%s_old.bag" % (self.pkg_dir, name)
newbag = "%s/test/%s_new.bag" % (self.pkg_dir, name)
# Create an old message
bag = rosrecord.Rebagger(oldbag)
bag.add("topic", old_msg(), roslib.rostime.Time())
bag.close()
# Check and migrate
res = rosbagmigration.checkbag(oldbag, [])
self.assertTrue(res is None or res == [],
'Bag not ready to be migrated')
res = rosbagmigration.fixbag(oldbag, newbag, [])
self.assertTrue(res, 'Bag not converted successfully')
# Pull the first message out of the bag
msgs = [msg for msg in rosrecord.logplayer(newbag)]
# Reserialize the new message so that floats get screwed up, etc.
m = new_msg()
buff = StringIO()
m.serialize(buff)
m.deserialize(buff.getvalue())
#Compare
# print "old"
# print roslib.message.strify_message(msgs[0][1])
# print "new"
# print roslib.message.strify_message(m)
# Strifying them helps make the comparison easier until I figure out why the equality operator is failing
self.assertTrue(
roslib.message.strify_message(msgs[0][1]) ==
roslib.message.strify_message(m))
# self.assertTrue(msgs[0][1] == m)
#Cleanup
os.remove(oldbag)
os.remove(newbag)
def fixbag_batch(inbags):
mm = rosbagmigration.MessageMigrator()
for b in inbags:
print "Trying to migrate: %s" % b
outbag = b + '.tmp'
if rosbagmigration.fixbag(mm, b, outbag):
oldnamebase = b + '.old'
oldname = oldnamebase
i = 1
while os.path.isfile(oldname):
i = i + 1
oldname = oldnamebase + str(i)
os.rename(b, oldname)
os.rename(outbag, b)
print " Migration successful. Original stored as: %s" % oldname
else:
os.remove(outbag)
print " Migration failed."
def do_test_constants_rules(self, N):
tmp_rule_files = ['constants.bmr']
rule_files = ["%s/test/%s" % (self.pkg_dir, r) for r in tmp_rule_files]
inbag = "%s/test/constants_gen%d.bag" % (self.pkg_dir, N)
outbag = "%s/test/constants_gen%d.fixed.bag" % (self.pkg_dir, N)
mm = rosbagmigration.MessageMigrator(rule_files, False)
res = rosbagmigration.checkbag(mm, inbag)
self.assertTrue(not False in [m[1] == [] for m in res],
'Bag not ready to be migrated')
res = rosbagmigration.fixbag(mm, inbag, outbag)
self.assertTrue(res, 'Bag not converted successfully')
msgs = [msg for msg in rosrecord.logplayer(outbag)]
self.assertTrue(len(msgs) > 0)
self.assertEqual(msgs[0][1]._type, 'test_rosbagmigration/Constants',
'Type name is wrong')
self.assertEqual(msgs[0][1].value, msgs[0][1].CONSTANT)
def do_test_convergent(self, N):
tmp_rule_files = [
'migrated_explicit_rules.py', 'migrated_mixed_rules.py',
'migrated_addsub_rules.py', 'renamed_rules.py',
'simple_migrated_rules.py', 'converged_rules.py'
]
rule_files = ["%s/test/%s" % (self.pkg_dir, r) for r in tmp_rule_files]
inbag = "%s/test/convergent_gen%d.bag" % (self.pkg_dir, N)
outbag = "%s/test/convergent_gen%d.fixed.bag" % (self.pkg_dir, N)
mm = rosbagmigration.MessageMigrator(rule_files, False)
res = rosbagmigration.checkbag(mm, inbag)
self.assertTrue(not False in [m[1] == [] for m in res],
'Bag not ready to be migrated')
res = rosbagmigration.fixbag(mm, inbag, outbag)
self.assertTrue(res, 'Bag not converted successfully')
msgs = [msg for msg in rosrecord.logplayer(outbag)]
self.assertTrue(len(msgs) > 0)
self.assertEqual(msgs[0][1]._type, 'test_rosbagmigration/Converged',
'Type name is wrong')
self.assertEqual(msgs[0][1].field1[0],
struct.unpack('<f', struct.pack('<f', 1.2))[0])
self.assertEqual(msgs[0][1].field1[1],
struct.unpack('<f', struct.pack('<f', 3.4))[0])
self.assertEqual(msgs[0][1].field1[2],
struct.unpack('<f', struct.pack('<f', 5.6))[0])
self.assertEqual(msgs[0][1].field1[3],
struct.unpack('<f', struct.pack('<f', 7.8))[0])
self.assertEqual(msgs[0][1].field2[0].data, 11)
self.assertEqual(msgs[0][1].field2[1].data, 22)
self.assertEqual(msgs[0][1].field2[2].data, 33)
self.assertEqual(msgs[0][1].field2[3].data, 44)
def test_addsub(self):
tmp_rule_files = [
'migrated_explicit_rules.py', 'migrated_mixed_rules.py',
'migrated_addsub_rules.py'
]
rule_files = ["%s/test/%s" % (self.pkg_dir, r) for r in tmp_rule_files]
inbag = "%s/test/migrated_addsub_gen1.bag" % (self.pkg_dir, )
outbag = "%s/test/migrated_addsub_gen1.fixed.bag" % (self.pkg_dir, )
mm = rosbagmigration.MessageMigrator(rule_files, False)
res = rosbagmigration.checkbag(mm, inbag)
self.assertTrue(not False in [m[1] == [] for m in res],
'Bag not ready to be migrated')
res = rosbagmigration.fixbag(mm, inbag, outbag)
self.assertTrue(res, 'Bag not converted successfully')
msgs = [msg for msg in rosrecord.logplayer(outbag)]
self.assertTrue(len(msgs) > 0)
self.assertEqual(msgs[0][1].field1.field1, 42)
self.assertEqual(msgs[0][1].field2.field1, 42)
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Revision $Id$
PKG = 'rosbagmigration'
import roslib
roslib.load_manifest(PKG)
import sys
import rosbagmigration
if __name__ == '__main__':
if len(sys.argv) >= 3:
if sys.argv[2].split('.')[-1] == "bmr":
print >> sys.stderr, "Second argument should be a bag, not a rule file."
exit(1)
mm = rosbagmigration.MessageMigrator(sys.argv[3:])
if rosbagmigration.fixbag(mm, sys.argv[1], sys.argv[2]):
print "Bag migrated successfully."
else:
print "Bag could not be migrated"
else:
print "usage: fixbag.py <inbag> <outbag> [rulefile1, rulefile2, ...]"
