def header(draw, seq=uint32(), stamp=time(), frame_id=string()):
"""
Generate value for ROS1 standard message type "header".
Parameters
----------
seq : hypothesis_ros.message_fields.uint32()
Strategy to generate seq value. (Default: Default hypothesis_ros strategy.)
stamp : hypothesis_ros.message_fields.time()
Strategy to generate stamp value. (Default: Default hypothesis_ros strategy.)
frame_id : hypothesis_ros.message_fields.string()
Strategy to generate frame_id value. (Default: Default hypothesis_ros strategy.)
"""
seq_value = draw(seq)
stamp_value = draw(stamp)
frame_id_value = draw(frame_id)
assert isinstance(
seq_value, int
), 'drew invalid seq={seq_value} from {seq} for uint32 field'.format(
seq_value, seq)
assert isinstance(
stamp_value.secs, int
), 'drew invalid stamp.secs={stamp_value} from {stamp} for int field'.format(
stamp_value.secs, stamp)
assert isinstance(
stamp_value.nsecs, int
), 'drew invalid stamp.nsecs={stamp_value} from {stamp} for int field'.format(
stamp_value.nsecs, stamp)
assert isinstance(
frame_id_value, str
), 'drew invalid frame_id={frame_id_value} from {frame_id} for str field'.format(
frame_id_value, frame_id)
return _Header(seq_value, stamp_value, frame_id_value)
from hypothesis_ros.messages.geometry_msgs import (transform,
transform_stamped, vector3,
quaternion)
from hypothesis_ros.messages.std_msgs import header
from hypothesis_ros.message_fields import (
array,
float64,
uint32,
time,
)
@given(
array(elements=transform_stamped(
header(seq=uint32(min_value=0, max_value=0),
stamp=time(secs=uint32(min_value=1, max_value=1),
nsecs=uint32(min_value=2, max_value=2)),
frame_id=just('some_tf_frame_name')),
just('some_child_frame_id'),
transform(translation=vector3(x=float64(min_value=1.0, max_value=1.0),
y=float64(min_value=2.0, max_value=2.0),
z=float64(min_value=3.0, max_value=3.0)),
rotation=quaternion(x=float64(min_value=1.0, max_value=1.0),
y=float64(min_value=2.0, max_value=2.0),
z=float64(min_value=3.0, max_value=3.0),
w=float64(min_value=4.0,
max_value=4.0)))),
min_size=2,
max_size=2))
def test_tfmessage_accepts_customized_strategies(generated_value):
"""Exemplary customized TFMessage."""
assert generated_value == [
@given(string())
def test_string_generates_in_range_size_per_default(generated_value):
"""Verify default generated string size."""
assert len(generated_value) >= STRING_MIN_SIZE
assert len(generated_value) <= STRING_MAX_SIZE
def test_string_with_bigger_min_than_max_size_raises_exception():
"""Verifies validation of String min_value/max_value."""
with raises(InvalidArgument):
string(min_size=STRING_MIN_SIZE + 1,
max_size=STRING_MIN_SIZE).example()
@given(time())
def test_time_generates_in_range_values_per_default(generated_value):
"""Verfiy default generated value range."""
secs = generated_value.secs
nsecs = generated_value.nsecs
assert secs >= UINT32_MIN_VALUE
assert secs <= UINT32_MAX_VALUE
assert nsecs >= UINT32_MIN_VALUE
assert nsecs <= UINT32_MAX_VALUE
@given(
time(secs=uint32(min_value=1, max_value=1),
nsecs=uint32(min_value=2, max_value=2)))
def test_time_field_mapping(generated_value):
"""Verify mapping of time fields."""
(1.0, 2.0, 3.0, 4.0)
),
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0
]
)
@given(pose_with_covariance_stamped(
header(seq=uint32(min_value=0, max_value=0),
stamp=time(
secs=uint32(min_value=0, max_value=0),
nsecs=uint32(min_value=0, max_value=0)
),
frame_id=just('some_tf_frame_name')
),
pose_with_covariance(pose(position=point(x=float64(min_value=1.0, max_value=1.0),
y=float64(min_value=2.0, max_value=2.0),
z=float64(min_value=3.0, max_value=3.0)
),
orientation=quaternion(x=float64(min_value=1.0, max_value=1.0),
y=float64(min_value=2.0, max_value=2.0),
z=float64(min_value=3.0, max_value=3.0),
w=float64(min_value=4.0, max_value=4.0)
)
),
array(elements=float64(min_value=0.0, max_value=0.0), min_size=36, max_size=36)
)