def test_invalid_action_specification():
with pytest.raises(InvalidActionSpecification):
parse_action_string('pkg', 'Foo', '')
# too few action separators (---)
with pytest.raises(InvalidActionSpecification):
parse_action_string('pkg', 'Foo', 'bool foo\n---\nint8 bar')
def test_invalid_action_specification():
with pytest.raises(InvalidActionSpecification):
parse_action_string('pkg', 'Foo', '')
# too few action separators (---)
with pytest.raises(InvalidActionSpecification):
parse_action_string('pkg', 'Foo', 'bool foo\n---\nint8 bar')
def test_action_implicit_field_collision():
# uuid collision on send goal service
with pytest.raises(ImplicitFieldCollision):
parse_action_string(
'pkg', 'Foo', 'bool foo\nstring action_goal_id\n---\nint8 bar\n---\nbool foo')
# status collision on get result service
with pytest.raises(ImplicitFieldCollision):
parse_action_string(
'pkg', 'Foo', 'bool foo\n---\nint8 bar\nstring action_status\n---\nbool foo')
def test_valid_action_string1():
spec = parse_action_string('pkg', 'Foo',
'bool foo\n---\nint8 bar\n---\nbool foo')
goal_service = spec.goal_service
result_service = spec.result_service
feedback_msg = spec.feedback
# Goal service checks
assert goal_service.pkg_name == 'pkg'
assert goal_service.srv_name == 'Foo_Goal'
assert goal_service.request.base_type.pkg_name == 'pkg'
assert goal_service.request.base_type.type == 'Foo_Goal_Request'
assert len(goal_service.request.fields) == 2 # including implicit uuid
assert len(goal_service.request.constants) == 0
assert goal_service.response.base_type.pkg_name == 'pkg'
assert goal_service.response.base_type.type == 'Foo_Goal_Response'
assert len(goal_service.response.fields) == 2
assert len(goal_service.response.constants) == 0
# Result service checks
assert result_service.pkg_name == 'pkg'
assert result_service.srv_name == 'Foo_Result'
assert result_service.request.base_type.pkg_name == 'pkg'
assert result_service.request.base_type.type == 'Foo_Result_Request'
assert len(result_service.request.fields) == 1 # implicit uuid
assert len(result_service.request.constants) == 0
assert result_service.response.base_type.pkg_name == 'pkg'
assert result_service.response.base_type.type == 'Foo_Result_Response'
assert len(result_service.response.fields) == 2
assert len(result_service.response.constants) == 0
# Feedback message checks
assert len(feedback_msg.fields) == 2
assert feedback_msg.fields[0].type.type == 'uint8'
assert feedback_msg.fields[0].name == 'uuid'
assert feedback_msg.fields[1].type.type == 'bool'
assert feedback_msg.fields[1].name == 'foo'
assert len(feedback_msg.constants) == 0
def test_valid_action_string3():
spec = parse_action_string(
'pkg',
'Foo',
'bool foo\nstring status\n---\nbool FOO=1\nint8 bar\n---\nbool BAR=1\nbool foo')
# Goal checks
assert spec.goal.base_type.pkg_name == 'pkg'
assert spec.goal.msg_name == 'Foo_Goal'
assert len(spec.goal.fields) == 2
assert len(spec.goal.constants) == 0
# Result checks
assert spec.result.base_type.pkg_name == 'pkg'
assert spec.result.msg_name == 'Foo_Result'
assert len(spec.result.fields) == 1
assert len(spec.result.constants) == 1
assert spec.result.constants[0].type == 'bool'
assert spec.result.constants[0].name == 'FOO'
assert spec.result.constants[0].value
# Feedback checks
assert len(spec.feedback.fields) == 1
assert spec.feedback.fields[0].type.type == 'bool'
assert spec.feedback.fields[0].name == 'foo'
assert len(spec.feedback.constants) == 1
assert spec.feedback.constants[0].type == 'bool'
assert spec.feedback.constants[0].name == 'BAR'
assert spec.feedback.constants[0].value
def test_valid_action_string3():
spec = parse_action_string(
'pkg', 'Foo',
'bool foo\nstring status\n---\nbool FOO=1\nint8 bar\n---\nbool BAR=1\nbool foo'
)
# Goal checks
assert spec.goal.base_type.pkg_name == 'pkg'
assert spec.goal.msg_name == 'Foo_Goal'
assert len(spec.goal.fields) == 2
assert len(spec.goal.constants) == 0
# Result checks
assert spec.result.base_type.pkg_name == 'pkg'
assert spec.result.msg_name == 'Foo_Result'
assert len(spec.result.fields) == 1
assert len(spec.result.constants) == 1
assert spec.result.constants[0].type == 'bool'
assert spec.result.constants[0].name == 'FOO'
assert spec.result.constants[0].value
# Feedback checks
assert len(spec.feedback.fields) == 1
assert spec.feedback.fields[0].type.type == 'bool'
assert spec.feedback.fields[0].name == 'foo'
assert len(spec.feedback.constants) == 1
assert spec.feedback.constants[0].type == 'bool'
assert spec.feedback.constants[0].name == 'BAR'
assert spec.feedback.constants[0].value
def test_valid_action_string1():
spec = parse_action_string('pkg', 'Foo', 'bool foo\n---\nint8 bar\n---\nbool foo')
# Goal checks
assert spec.goal.base_type.pkg_name == 'pkg'
assert spec.goal.msg_name == 'Foo_Goal'
assert len(spec.goal.fields) == 1
assert len(spec.goal.constants) == 0
# Result checks
assert spec.result.base_type.pkg_name == 'pkg'
assert spec.result.msg_name == 'Foo_Result'
assert len(spec.result.fields) == 1
assert len(spec.result.constants) == 0
# Feedback checks
assert spec.feedback.base_type.pkg_name == 'pkg'
assert spec.feedback.msg_name == 'Foo_Feedback'
assert len(spec.feedback.fields) == 1
assert len(spec.feedback.constants) == 0
def test_valid_action_string1():
spec = parse_action_string('pkg', 'Foo',
'bool foo\n---\nint8 bar\n---\nbool foo')
# Goal checks
assert spec.goal.base_type.pkg_name == 'pkg'
assert spec.goal.msg_name == 'Foo_Goal'
assert len(spec.goal.fields) == 1
assert len(spec.goal.constants) == 0
# Result checks
assert spec.result.base_type.pkg_name == 'pkg'
assert spec.result.msg_name == 'Foo_Result'
assert len(spec.result.fields) == 1
assert len(spec.result.constants) == 0
# Feedback checks
assert spec.feedback.base_type.pkg_name == 'pkg'
assert spec.feedback.msg_name == 'Foo_Feedback'
assert len(spec.feedback.fields) == 1
assert len(spec.feedback.constants) == 0
def convert_action_to_idl(package_dir, package_name, input_file, output_dir):
assert package_dir.is_absolute()
assert not input_file.is_absolute()
assert input_file.suffix == '.action'
abs_input_file = package_dir / input_file
print('Reading input file: {abs_input_file}'.format_map(locals()))
abs_input_file = package_dir / input_file
content = abs_input_file.read_text(encoding='utf-8')
action = parse_action_string(package_name, input_file.stem, content)
# HACK as long as the return action specification contains implicitly added
# fields they have to be skipped when generating .idl files
assert len(action.goal_service.request.fields) >= 1
assert action.goal_service.request.fields[0].name == 'uuid'
action.goal_service.request.fields.pop(0)
assert len(action.goal_service.response.fields) >= 2
assert action.goal_service.response.fields[0].name == 'accepted'
assert action.goal_service.response.fields[1].name == 'stamp'
action.goal_service.response.fields.pop(1)
action.goal_service.response.fields.pop(0)
assert len(action.result_service.request.fields) >= 1
assert action.result_service.request.fields[0].name == 'uuid'
action.result_service.request.fields.pop(0)
assert len(action.result_service.response.fields) >= 1
assert action.result_service.response.fields[0].name == 'status'
action.result_service.response.fields.pop(0)
assert len(action.feedback.fields) >= 1
assert action.feedback.fields[0].name == 'uuid'
action.feedback.fields.pop(0)
output_file = output_dir / input_file.with_suffix('.idl').name
abs_output_file = output_file.absolute()
print('Writing output file: {abs_output_file}'.format_map(locals()))
data = {
'pkg_name': package_name,
'relative_input_file': input_file,
'action': action,
}
expand_template('action.idl.em', data, output_file)
return output_file
def convert_action_to_idl(package_dir, package_name, input_file, output_dir):
assert package_dir.is_absolute()
assert not input_file.is_absolute()
assert input_file.suffix == '.action'
abs_input_file = package_dir / input_file
print(f'Reading input file: {abs_input_file}')
abs_input_file = package_dir / input_file
content = abs_input_file.read_text(encoding='utf-8')
action = parse_action_string(package_name, input_file.stem, content)
output_file = output_dir / input_file.with_suffix('.idl').name
abs_output_file = output_file.absolute()
print(f'Writing output file: {abs_output_file}')
data = {
'pkg_name': package_name,
'relative_input_file': input_file.as_posix(),
'action': action,
}
expand_template('action.idl.em', data, output_file, encoding='iso-8859-1')
return output_file
def convert_action_to_idl(package_dir, package_name, input_file, output_dir):
assert package_dir.is_absolute()
assert not input_file.is_absolute()
assert input_file.suffix == '.action'
abs_input_file = package_dir / input_file
print('Reading input file: {abs_input_file}'.format_map(locals()))
abs_input_file = package_dir / input_file
content = abs_input_file.read_text(encoding='utf-8')
action = parse_action_string(package_name, input_file.stem, content)
output_file = output_dir / input_file.with_suffix('.idl').name
abs_output_file = output_file.absolute()
print('Writing output file: {abs_output_file}'.format_map(locals()))
data = {
'pkg_name': package_name,
'relative_input_file': input_file,
'action': action,
}
expand_template('action.idl.em', data, output_file)
return output_file
def test_valid_action_string():
parse_action_string('pkg', 'Foo', 'bool foo\n---\nint8 bar\n---')
def test_valid_action_string():
parse_action_string('pkg', 'Foo', 'bool foo\n---\nint8 bar\n---')
