def test_srv_from_file(filesystem):
# read .srv file
pkg = "nav_msgs"
pkg_dir = "/opt/ros/melodic/share/nav_msgs"
fn = os.path.join(pkg_dir, "srv/SetMap.srv")
fmt = ROS1SrvFormat.from_file(pkg, fn, filesystem)
assert fmt.package == pkg
assert fmt.name == "SetMap"
assert fmt.fullname == "nav_msgs/SetMap"
req: ROS1MsgFormat = fmt.request
assert not req.constants
assert len(req.fields) == 2
assert Field("nav_msgs/OccupancyGrid", "map") in req.fields
assert (Field("geometry_msgs/PoseWithCovarianceStamped", "initial_pose")
in req.fields)
assert fmt.response
res: ROS1MsgFormat = fmt.response
assert not res.constants
assert len(res.fields) == 1
assert Field("bool", "success") in res.fields
# attempt to read .action file
fn = "/opt/ros/melodic/share/tf2_msgs/action/LookupTransform.action"
with pytest.raises(AssertionError):
ROS1SrvFormat.from_file(pkg, fn, filesystem)
# attempt to read non-existent file
fn = os.path.join(pkg_dir, "srv/Spooky.srv")
with pytest.raises(dockerblade.exceptions.ContainerFileNotFound):
ROS1SrvFormat.from_file(pkg, fn, filesystem)
def test_action_format_to_and_from_dict():
pkg = "actionlib"
name = "TwoInts"
name_goal = "TwoIntsGoal"
name_result = "TwoIntsResult"
# it doesn't matter what these are set to
definition_action = "FOO"
definition_goal = "BAR"
definition_result = "COOL"
d = {
"package": pkg,
"name": name,
"definition": definition_action,
"goal": {
"definition":
definition_goal,
"fields": [
{
"type": "int64",
"name": "a"
},
{
"type": "int64",
"name": "b"
},
],
},
"result": {
"definition": definition_result,
"fields": [{
"type": "int64",
"name": "sum"
}],
},
}
f = ROS1ActionFormat(
package=pkg,
name=name,
definition=definition_action,
goal=ROS1MsgFormat(
definition=definition_goal,
package=pkg,
name=name_goal,
constants=[],
fields=[Field("int64", "a"),
Field("int64", "b")],
),
feedback=None,
result=ROS1MsgFormat(
package=pkg,
definition=definition_result,
name=name_result,
constants=[],
fields=[Field("int64", "sum")],
),
)
f1 = ROS1ActionFormat.from_dict(d)
assert f1 == f
assert ROS1ActionFormat.from_dict(f.to_dict()) == f
def test_srv_format_to_and_from_dict():
pkg = "nav_msgs"
name = "SetMap"
name_request = "SetMapRequest"
name_response = "SetMapResponse"
# it doesn't matter what these are set to
definition_service = "FOO"
definition_request = "BAR"
definition_response = "COOL"
d = {
"package": pkg,
"name": name,
"definition": definition_service,
"request": {
"definition":
definition_request,
"fields": [
{
"type": "nav_msgs/OccupancyGrid",
"name": "map"
},
{
"type": "geometry_msgs/PoseWithCovarianceStamped",
"name": "initial_pose",
},
],
},
"response": {
"definition": definition_response,
"fields": [{
"type": "bool",
"name": "success"
}],
},
}
f = ROS1SrvFormat(
package=pkg,
name=name,
definition=definition_service,
request=ROS1MsgFormat(
package=pkg,
definition=definition_request,
name=name_request,
constants=[],
fields=[
Field("nav_msgs/OccupancyGrid", "map"),
Field("geometry_msgs/PoseWithCovarianceStamped",
"initial_pose"),
],
),
response=ROS1MsgFormat(
package=pkg,
definition=definition_response,
name=name_response,
constants=[],
fields=[Field("bool", "success")],
),
)
assert ROS1SrvFormat.from_dict(d) == f
assert ROS1SrvFormat.from_dict(f.to_dict()) == f
def test_srv_from_string():
s = """
#request constants
int8 FOO=1
int8 BAR=2
#request fields
int8 foobar
another_pkg/AnotherMessage msg
---
#response constants
uint32 SECRET=123456
#response fields
another_pkg/YetAnotherMessage val
CustomMessageDefinedInThisPackage value
uint32 an_integer
"""
fmt = ROS1SrvFormat.from_string("PkgName", "MessageName", s)
assert fmt.name == "MessageName"
assert fmt.package == "PkgName"
# check request
req = fmt.request
assert req is not None
assert len(req.constants) == 2
assert Constant("int8", "FOO", "1") in req.constants
assert Constant("int8", "BAR", "2") in req.constants
assert len(req.fields) == 2
assert Field("int8", "foobar") in req.fields
assert Field("another_pkg/AnotherMessage", "msg") in req.fields
# check response
res = fmt.response
assert res is not None
assert len(res.constants) == 1
assert Constant("uint32", "SECRET", "123456") in res.constants
assert len(res.fields) == 3
assert Field("another_pkg/YetAnotherMessage", "val") in res.fields
assert (Field("PkgName/CustomMessageDefinedInThisPackage", "value")
in res.fields)
assert Field("uint32", "an_integer") in res.fields
# bug #269
s = "map_msgs/ProjectedMapInfo[] projected_maps_info"
fmt = ROS1SrvFormat.from_string("map_msgs", "ProjectedMapsInfo", s)
assert fmt.request is not None
assert fmt.response is None
def test_msg_from_string():
s = """
#Standard metadata for higher-level flow data types
#sequence ID: consecutively increasing ID
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
string frame_id
int32 X=123
int32 Y=-123
string FOO=foo
string EXAMPLE="#comments" are ignored, and leading and trailing whitespace removed
"""
fmt = ROS1MsgFormat.from_string("PkgName", "MessageName", s)
assert fmt.name == "MessageName"
assert fmt.package == "PkgName"
assert len(fmt.constants) == 4
assert Constant("int32", "X", "123") in fmt.constants
assert Constant("int32", "Y", "-123") in fmt.constants
assert Constant("string", "FOO", "foo") in fmt.constants
assert (Constant(
"string",
"EXAMPLE",
'"#comments" are ignored, and leading and trailing whitespace removed',
) in fmt.constants) # noqa: pycodestyle
assert len(fmt.fields) == 3
assert Field("uint32", "seq") in fmt.fields
assert Field("time", "stamp") in fmt.fields
assert Field("string", "frame_id") in fmt.fields
def test_action_from_string():
s = """
# Define the goal
uint32 dishwasher_id # Specify which dishwasher we want to use
---
# Define the result
uint32 total_dishes_cleaned
---
# Define a feedback message
float32 percent_complete
"""
fmt = ROS1ActionFormat.from_string("PkgName", "MessageName", s)
assert fmt.name == "MessageName"
assert fmt.package == "PkgName"
# check goal
goal = fmt.goal
assert goal is not None
assert not goal.constants
assert len(goal.fields) == 1
assert Field("uint32", "dishwasher_id") in goal.fields
# check result
res = fmt.result
assert res is not None
assert not res.constants
assert len(res.fields) == 1
assert Field("uint32", "total_dishes_cleaned") in res.fields
# check feedback
feedback = fmt.feedback
assert feedback is not None
assert not feedback.constants
assert len(feedback.fields) == 1
assert Field("float32", "percent_complete") in feedback.fields
def test_action_from_file(filesystem):
# read .action file
pkg = "tf2_msgs"
pkg_dir = "/opt/ros/melodic/share/tf2_msgs"
fn = os.path.join(pkg_dir, "action/LookupTransform.action")
fmt = ROS1ActionFormat.from_file(pkg, fn, filesystem)
assert fmt.package == pkg
assert fmt.name == "LookupTransform"
assert fmt.fullname == "tf2_msgs/LookupTransform"
goal: ROS1MsgFormat = fmt.goal
assert not goal.constants
assert len(goal.fields) == 7
assert Field("string", "target_frame") in goal.fields
assert Field("string", "source_frame") in goal.fields
assert Field("time", "source_time") in goal.fields
assert Field("duration", "timeout") in goal.fields
assert Field("time", "target_time") in goal.fields
assert Field("string", "fixed_frame") in goal.fields
assert Field("bool", "advanced") in goal.fields
assert fmt.result
res: ROS1MsgFormat = fmt.result
assert not res.constants
assert len(res.fields) == 2
assert Field("geometry_msgs/TransformStamped", "transform") in res.fields
assert Field("tf2_msgs/TF2Error", "error") in res.fields
# attempt to read .msg file
fn = os.path.join(pkg_dir, "msg/TFMessage.msg")
with pytest.raises(AssertionError):
ROS1ActionFormat.from_file(pkg, fn, filesystem)
# attempt to read non-existent file
fn = os.path.join(pkg_dir, "action/Spooky.action")
with pytest.raises(dockerblade.exceptions.ContainerFileNotFound):
ROS1ActionFormat.from_file(pkg, fn, filesystem)
def test_msg_from_file(filesystem):
# read .msg file
pkg = "tf2_msgs"
pkg_dir = "/opt/ros/melodic/share/tf2_msgs/"
fn = os.path.join(pkg_dir, "msg/TFMessage.msg")
fmt = ROS1MsgFormat.from_file(pkg, fn, filesystem)
assert fmt.package == pkg
assert fmt.name == "TFMessage"
assert fmt.fullname == "tf2_msgs/TFMessage"
assert not fmt.constants
assert len(fmt.fields) == 1
assert (Field("geometry_msgs/TransformStamped[]", "transforms")
in fmt.fields)
# attempt to read .action file
fn = os.path.join(pkg_dir, "action/LookupTransform.action")
with pytest.raises(AssertionError):
ROS1SrvFormat.from_file(pkg, fn, filesystem)
# attempt to read non-existent file
fn = os.path.join(pkg_dir, "msg/Spooky.msg")
with pytest.raises(dockerblade.exceptions.ContainerFileNotFound):
ROS1MsgFormat.from_file(pkg, fn, filesystem)
def test_msg_format_to_and_from_dict():
definition = "geometry_msgs/TransformStamped[] transforms\n"
d = {
"package":
"tf",
"name":
"tfMessage",
"definition":
definition,
"fields": [{
"type": "geometry_msgs/TransformStamped[]",
"name": "transforms"
}],
}
f = ROS1MsgFormat(
package="tf",
name="tfMessage",
definition=definition,
constants=[],
fields=[Field("geometry_msgs/TransformStamped[]", "transforms")],
)
assert ROS1MsgFormat.from_dict(d) == f
assert ROS1MsgFormat.from_dict(f.to_dict()) == f
def test_field_to_and_from_dict():
d = {"type": "uint32", "name": "foo"}
f = Field("uint32", "foo")
assert Field.from_dict(d) == Field("uint32", "foo")
assert Field.from_dict(f.to_dict()) == f