def test_compute_constructor():
from genpy.generator import compute_constructor
msg_context = MsgContext.create_default()
msg_context.register('fake_msgs/String', MsgSpec(['string'], ['data'], [], 'string data\n', 'fake_msgs/String'))
msg_context.register('fake_msgs/ThreeNums', MsgSpec(['int32', 'int32', 'int32'], ['x', 'y', 'z'], [], 'int32 x\nint32 y\nint32 z\n', 'fake_msgs/ThreeNums'))
# builtin specials
assert 'genpy.Time()' == compute_constructor(msg_context, 'roslib', 'time')
assert 'genpy.Duration()' == compute_constructor(msg_context, 'roslib', 'duration')
assert 'std_msgs.msg._Header.Header()' == compute_constructor(msg_context, 'std_msgs', 'Header')
assert 'genpy.Time()' == compute_constructor(msg_context, 'std_msgs', 'time')
assert 'genpy.Duration()' == compute_constructor(msg_context, 'std_msgs', 'duration')
# generic instances
# - unregistered type
assert compute_constructor(msg_context, 'unknown_msgs', 'unknown_msgs/Foo') is None
assert compute_constructor(msg_context, 'unknown_msgs', 'Foo') is None
# - wrong context
assert compute_constructor(msg_context, 'std_msgs', 'ThreeNums') is None
# - registered types
assert 'fake_msgs.msg.String()' == compute_constructor(msg_context, 'std_msgs', 'fake_msgs/String')
assert 'fake_msgs.msg.String()' == compute_constructor(msg_context, 'fake_msgs', 'fake_msgs/String')
assert 'fake_msgs.msg.String()' == compute_constructor(msg_context, 'fake_msgs', 'String')
assert 'fake_msgs.msg.ThreeNums()' == compute_constructor(msg_context, 'fake_msgs', 'fake_msgs/ThreeNums')
assert 'fake_msgs.msg.ThreeNums()' == compute_constructor(msg_context, 'fake_msgs', 'fake_msgs/ThreeNums')
assert 'fake_msgs.msg.ThreeNums()' == compute_constructor(msg_context, 'fake_msgs', 'ThreeNums')
def test_flatten():
from genpy.generator import flatten
msg_context = MsgContext.create_default()
simple = MsgSpec(['string'], ['data'], [], 'string data\n',
'simple/String')
simple2 = MsgSpec(['string', 'int32'], ['data', 'data2'], [],
'string data\nint32 data2\n', 'simpe/Data2')
assert simple == flatten(msg_context, simple)
assert simple2 == flatten(msg_context, simple2)
b1 = MsgSpec(['int8'], ['data'], [], 'X', 'f_msgs/Base')
b2 = MsgSpec(['f_msgs/Base'], ['data'], [], 'X', 'f_msgs/Base2')
b3 = MsgSpec(['f_msgs/Base2', 'f_msgs/Base2'], ['data3', 'data4'], [], 'X',
'f_msgs/Base3')
b4 = MsgSpec(['f_msgs/Base3', 'f_msgs/Base3'], ['dataA', 'dataB'], [], 'X',
'f_msgs/Base4')
msg_context.register('f_msgs/Base', b1)
msg_context.register('f_msgs/Base2', b2)
msg_context.register('f_msgs/Base3', b3)
msg_context.register('f_msgs/Base4', b4)
assert MsgSpec(['int8'], ['data.data'], [], 'X',
'f_msgs/Base2') == flatten(msg_context, b2)
assert MsgSpec(['int8', 'int8'], ['data3.data.data', 'data4.data.data'],
[], 'X', 'f_msgs/Base3') == flatten(msg_context, b3)
assert MsgSpec(['int8', 'int8', 'int8', 'int8'], [
'dataA.data3.data.data', 'dataA.data4.data.data',
'dataB.data3.data.data', 'dataB.data4.data.data'
], [], 'X', 'f_msgs/Base4') == flatten(msg_context, b4)
def test_flatten_array_objects():
# make sure array of types don't flatten
from genpy.generator import flatten
msg_context = MsgContext.create_default()
b1 = MsgSpec(['int8'], ['data'], [], 'X', 'f_msgs/Base')
b5 = MsgSpec(['f_msgs/Base[]'], ['data'], [], 'X', 'f_msgs/Base5')
msg_context.register('f_msgs/Base', b1)
msg_context.register('f_msgs/Base5', b5)
assert b5 == flatten(msg_context, b5)
def test_get_registered_ex():
import genpy.generator
msg_context = MsgContext.create_default()
s = MsgSpec(['string'], ['data'], [], 'string data\n', 'tgr_msgs/String')
msg_context.register('tgr_msgs/String', s)
assert s == genpy.generator.get_registered_ex(msg_context, 'tgr_msgs/String')
try:
genpy.generator.get_registered_ex(msg_context, 'bad_msgs/String')
except genpy.generator.MsgGenerationException:
pass
def test_make_python_safe():
from genpy.generator import make_python_safe
from genmsg.msgs import Constant
s = MsgSpec(['int32', 'int32', 'int32', 'int32', 'int32', 'int32'], ['ok', 'if', 'self', 'fine', 'self.x', 'self.while'],
[Constant('int32', 'if', '1', '1'), Constant('int32', 'okgo', '1', '1')],
'x', 'test_msgs/Foo')
s2 = make_python_safe(s)
assert s != s2
assert ['ok', 'if_', 'self_', 'fine', 'self.x', 'self.while_'] == s2.names, s2.names
assert s2.types == s.types
assert [Constant('int32', 'if_', '1', '1') == Constant('int32', 'okgo', '1', '1')], s2.constants
assert s2.text == s.text
def test_compute_import():
import genpy.generator
msg_context = MsgContext.create_default()
assert [] == genpy.generator.compute_import(msg_context, 'foo', 'bar')
assert [] == genpy.generator.compute_import(msg_context, 'foo', 'int32')
msg_context.register('ci_msgs/Base', MsgSpec(['int8'], ['data'], [], 'int8 data\n', 'ci_msgs/Base'))
msg_context.register('ci2_msgs/Base2', MsgSpec(['ci_msgs/Base'], ['data2'], [], 'ci_msgs/Base data2\n', 'ci2_msgs/Base2'))
msg_context.register('ci3_msgs/Base3', MsgSpec(['ci2_msgs/Base2'], ['data3'], [], 'ci2_msgs/Base2 data3\n', 'ci3_msgs/Base3'))
msg_context.register('ci4_msgs/Base', MsgSpec(['int8'], ['data'], [], 'int8 data\n', 'ci4_msgs/Base'))
msg_context.register('ci4_msgs/Base4', MsgSpec(
['ci2_msgs/Base2', 'ci3_msgs/Base3'],
['data4a', 'data4b'],
[], 'ci2_msgs/Base2 data4a\nci3_msgs/Base3 data4b\n', 'ci4_msgs/Base4'))
msg_context.register('ci5_msgs/Base', MsgSpec(['time'], ['data'], [], 'time data\n', 'ci5_msgs/Base'))
assert ['import ci_msgs.msg'] == genpy.generator.compute_import(msg_context, 'foo', 'ci_msgs/Base')
assert ['import ci_msgs.msg'] == genpy.generator.compute_import(msg_context, 'ci_msgs', 'ci_msgs/Base')
assert ['import ci2_msgs.msg', 'import ci_msgs.msg'] == genpy.generator.compute_import(msg_context, 'ci2_msgs', 'ci2_msgs/Base2')
assert ['import ci2_msgs.msg', 'import ci_msgs.msg'] == genpy.generator.compute_import(msg_context, 'foo', 'ci2_msgs/Base2')
assert ['import ci3_msgs.msg', 'import ci2_msgs.msg', 'import ci_msgs.msg'] == genpy.generator.compute_import(msg_context, 'ci3_msgs', 'ci3_msgs/Base3')
assert {'import ci4_msgs.msg', 'import ci3_msgs.msg', 'import ci2_msgs.msg', 'import ci_msgs.msg'} == set(genpy.generator.compute_import(msg_context, 'foo', 'ci4_msgs/Base4'))
assert {'import ci4_msgs.msg', 'import ci3_msgs.msg', 'import ci2_msgs.msg', 'import ci_msgs.msg'} == set(genpy.generator.compute_import(msg_context, 'ci4_msgs', 'ci4_msgs/Base4'))
assert ['import ci4_msgs.msg'] == genpy.generator.compute_import(msg_context, 'foo', 'ci4_msgs/Base')
assert ['import ci4_msgs.msg'] == genpy.generator.compute_import(msg_context, 'ci4_msgs', 'ci4_msgs/Base')
assert ['import ci4_msgs.msg'] == genpy.generator.compute_import(msg_context, 'ci4_msgs', 'Base')
assert ['import ci5_msgs.msg', 'import genpy'] == genpy.generator.compute_import(msg_context, 'foo', 'ci5_msgs/Base')
def test_default_value():
from genpy.generator import default_value
msg_context = MsgContext.create_default()
msg_context.register(
'fake_msgs/String',
MsgSpec(['string'], ['data'], [], 'string data\n', 'fake_msgs/String'))
msg_context.register(
'fake_msgs/ThreeNums',
MsgSpec(['int32', 'int32', 'int32'], ['x', 'y', 'z'], [],
'int32 x\nint32 y\nint32 z\n', 'fake_msgs/ThreeNums'))
# trip-wire: make sure all builtins have a default value
for t in genmsg.msgs.BUILTIN_TYPES:
assert type(default_value(msg_context, t, 'roslib')) == str
# simple types first
for t in [
'uint8', 'int8', 'uint16', 'int16', 'uint32', 'int32', 'uint64',
'int64', 'byte', 'char'
]:
assert '0' == default_value(msg_context, t, 'std_msgs')
assert '0' == default_value(msg_context, t, 'roslib')
for t in ['float32', 'float64']:
assert '0.' == default_value(msg_context, t, 'std_msgs')
assert '0.' == default_value(msg_context, t, 'roslib')
assert "''" == default_value(msg_context, 'string', 'roslib')
# builtin specials
assert 'genpy.Time()' == default_value(msg_context, 'time', 'roslib')
assert 'genpy.Duration()' == default_value(msg_context, 'duration',
'roslib')
assert 'std_msgs.msg._Header.Header()' == default_value(
msg_context, 'Header', 'roslib')
assert 'genpy.Time()' == default_value(msg_context, 'time', 'std_msgs')
assert 'genpy.Duration()' == default_value(msg_context, 'duration',
'std_msgs')
assert 'std_msgs.msg._Header.Header()' == default_value(
msg_context, 'Header', 'std_msgs')
# generic instances
# - unregistered type
assert default_value(msg_context, 'unknown_msgs/Foo',
'unknown_msgs') is None
# - wrong context
assert default_value(msg_context, 'ThreeNums', 'std_msgs') is None
# - registered types
assert 'fake_msgs.msg.String()' == default_value(msg_context,
'fake_msgs/String',
'std_msgs')
assert 'fake_msgs.msg.String()' == default_value(msg_context,
'fake_msgs/String',
'fake_msgs')
assert 'fake_msgs.msg.String()' == default_value(msg_context, 'String',
'fake_msgs')
assert 'fake_msgs.msg.ThreeNums()' == default_value(
msg_context, 'fake_msgs/ThreeNums', 'roslib')
assert 'fake_msgs.msg.ThreeNums()' == default_value(
msg_context, 'fake_msgs/ThreeNums', 'fake_msgs')
assert 'fake_msgs.msg.ThreeNums()' == default_value(
msg_context, 'ThreeNums', 'fake_msgs')
# var-length arrays always default to empty arrays... except for byte and uint8 which are strings
for t in [
'int8', 'uint16', 'int16', 'uint32', 'int32', 'uint64', 'int64',
'float32', 'float64'
]:
val = default_value(msg_context, t + '[]', 'std_msgs')
assert '[]' == val, '[%s]: %s' % (t, val)
assert '[]' == default_value(msg_context, t + '[]', 'roslib')
assert b'' == eval(default_value(msg_context, 'uint8[]', 'roslib'))
# fixed-length arrays should be zero-filled... except for byte and uint8 which are strings
for t in ['float32', 'float64']:
assert '[0.] * 3' == default_value(msg_context, t + '[3]', 'std_msgs')
assert '[0.] * 1' == default_value(msg_context, t + '[1]', 'std_msgs')
for t in ['int8', 'uint16', 'int16', 'uint32', 'int32', 'uint64', 'int64']:
assert '[0] * 4' == default_value(msg_context, t + '[4]', 'std_msgs')
assert '[0] * 1' == default_value(msg_context, t + '[1]', 'roslib')
assert b'\0' == eval(default_value(msg_context, 'uint8[1]', 'roslib'))
assert b'\0\0\0\0' == eval(default_value(msg_context, 'uint8[4]',
'roslib'))
assert '[]' == default_value(msg_context, 'fake_msgs/String[]', 'std_msgs')
assert '[fake_msgs.msg.String() for _ in range(2)]' == default_value(
msg_context, 'fake_msgs/String[2]', 'std_msgs')