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_to_and_from_dict():
pkg = "tf"
msg_tf = ROS1MsgFormat.from_dict({
"package":
pkg,
"name":
"tfMessage",
"definition":
"geometry_msgs/TransformStamped[] transforms\n",
"fields": [{
"type": "geometry_msgs/TransformStamped[]",
"name": "transforms",
}],
})
srv_fg = ROS1SrvFormat.from_dict({
"package": pkg,
"name": "FrameGraph",
"definition": "---\nstring dot_graph\n",
"response": {
"definition": "string dot_graph\n",
"fields": [{
"type": "string",
"name": "dot_graph"
}],
},
})
p = ROS1Package(
name=pkg,
path="/ros_ws/src/geometry/tf",
messages=[msg_tf],
actions=[],
services=[srv_fg],
)
assert p == ROS1Package.from_dict(p.to_dict())
def names(fmt: ROS1MsgFormat) -> List[str]:
buff = []
for ctx, field in fmt.flatten(register):
name = field.name
if ctx:
name = f"{'.'.join(ctx)}.{name}"
buff.append(name)
return buff
def test_msg_toposort(sut):
paths = [
"/ros_ws/src/geometry2/tf2_msgs",
"/ros_ws/src/geometry/tf",
"/ros_ws/src/common_msgs/geometry_msgs",
"/ros_ws/src/std_msgs",
]
db_package = ROS1PackageDatabase.build(sut, paths)
db_format = ROS1FormatDatabase.from_packages(db_package)
msgs = db_format.messages.values()
msgs = ROS1MsgFormat.toposort(msgs)
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_to_and_from_dict():
s = """
uint32 seq
time stamp
string frame_id
"""
fmt = ROS1MsgFormat.from_string("PkgName", "MessageName", s)
db_fmt = ROS1FormatDatabase({fmt}, {}, {})
db_type = TypeDatabase.build(db_fmt)
t = db_type["PkgName/MessageName"]
m = t(seq=310, stamp=Time(30, 120), frame_id="foo")
d = {"seq": 310, "stamp": {"secs": 30, "nsecs": 120}, "frame_id": "foo"}
assert m.to_dict() == d
assert db_type.from_dict(fmt, d) == m
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 mf(name: str, definition: str) -> ROS1MsgFormat:
f = ROS1MsgFormat.from_string("example_pkg", name, definition)
register[f.fullname] = f
return f