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_constants_no_rules(self, N):
tmp_rule_files = []
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(len(res[0][1]) == 1)
self.assertTrue(not res[0][1][0].valid)
self.assertEqual(res[0][1][0].old_class._md5sum,
'06a34bda7d4ea2950ab952e89ca35d7a')
self.assertEqual(res[0][1][0].new_class._md5sum,
'b45401c4d442c4da7b0a2a105075fa4a')
def do_test_partially_migrated(self, N):
tmp_rule_files = [
'migrated_explicit_rules.py', 'migrated_mixed_rules.py',
'migrated_addsub_rules.py', 'partially_migrated_rules.py'
]
rule_files = ["%s/test/%s" % (self.pkg_dir, r) for r in tmp_rule_files]
inbag = "%s/test/partially_migrated_gen%d.bag" % (self.pkg_dir, N)
mm = rosbagmigration.MessageMigrator(rule_files, False)
res = rosbagmigration.checkbag(mm, inbag)
self.assertTrue(len(res[0][1]) == 1)
self.assertTrue(not res[0][1][0].valid)
self.assertEqual(res[0][1][0].old_class._md5sum,
'660dfa8591c9e551b8828f9bc79116ae')
self.assertEqual(res[0][1][0].new_class._md5sum,
'b942bf4a41fb2bebc502889fd8981dfe')
def test_subunmigrated(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/subunmigrated_gen1.bag" % (self.pkg_dir, )
mm = rosbagmigration.MessageMigrator(rule_files, False)
res = rosbagmigration.checkbag(mm, inbag)
self.assertTrue(len(res[0][1]) == 1)
self.assertTrue(not res[0][1][0].valid)
self.assertEqual(res[0][1][0].old_class._md5sum,
'4b12e5ff694b0e2a31b2ea9e0bd900f4')
self.assertEqual(res[0][1][0].new_class._md5sum,
'b5d640967dccef2a24697ec4b8a571ec')
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)
sk = math.sin(z)
cc = ci*ck
cs = ci*sk
sc = si*ck
ss = si*sk
quaternion = [0.0,0.0,0.0,0.0]
quaternion[0] = cj*sc - sj*cs
quaternion[1] = cj*ss + sj*cc
quaternion[2] = cj*cs - sj*sc
quaternion[3] = cj*cc + sj*ss
return quaternion
migrator = rosbagmigration.MessageMigrator()
identity6x6 = [1.0] + 6*[0] + [1.0] + 6*[0] + [1.0] + 6*[0] + [1.0] + 6*[0] + [1.0] + 6*[0] + [1.0]
def repack(x):
return struct.unpack('<f',struct.pack('<f',x))[0]
class TestCommonMsgsMigration(unittest.TestCase):
# (*) Acceleration.saved
# (*) AngularAcceleration.saved
# (*) AngularVelocity.saved
# (*) BatteryState.saved
# (*) ChannelFloat32.saved
type_match = pat.match(type_line)
if type_match is None:
print >> sys.stderr, "Full definition file malformed. First line should be: '[my_package/my_msg]:'"
sys.exit()
old_type = type_match.groups()[0]
old_full_text = f.read()
f.close()
old_class = roslib.genpy.generate_dynamic(old_type,old_full_text)[old_type]
if old_class is None:
print >> sys.stderr, "Could not generate class from full definition file."
sys.exit()
mm = rosbagmigration.MessageMigrator(args[2:]+append_rule,not options.noplugins)
migrations = rosbagmigration.checkmessages(mm, [old_class])
if migrations == []:
print "Saved definition is up to date"
exit(0)
else:
print "The following migrations need to occur:"
for m in migrations:
all_rules.extend(m[1])
print_trans(m[0][0].old_class, m[0][-1].new_class, 0)
if len(m[1]) > 0:
print " %d rules missing:"%(len(m[1]))
for r in m[1]:
# 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, ...]"
