def callback(self, msg):
if self.echo and self.msg is None: # this is first time
print(colored('--- Echo %s' % self.topic_name, 'purple'))
field_filter = rostopic.create_field_filter(echo_nostr=False, echo_noarr=self.echo_noarr)
print(colored(genpy.message.strify_message(msg, field_filter=field_filter), 'cyan'))
if rospy.Time.now() < self.deadline:
self.msg = msg
def callback(self, msg):
if self.echo and self.msg is None: # this is first time
print(colored('--- Echo %s' % self.topic_name, 'purple'))
field_filter = rostopic.create_field_filter(echo_nostr=False, echo_noarr=self.echo_noarr)
print(colored(genpy.message.strify_message(msg, field_filter=field_filter), 'cyan'))
if rospy.Time.now() < self.deadline:
self.msg = msg
def callback(self, msg):
with self.is_topic_published_lock:
if self.echo and self.first_time_callback:
print Fore.MAGENTA + "--- Echo "+ self.topic_name, Fore.RESET
self.first_time_callback = False
field_filter_fn = rostopic.create_field_filter(False, True)
callback_echo = rostopic.CallbackEcho(self.topic_name, None, plot=False,
filter_fn=None,
echo_clear=False, echo_all_topics=False,
offset_time=False, count=None,
field_filter_fn=field_filter_fn)
print Fore.CYAN
callback_echo.callback(msg, {"topic":self.topic_name,
"type_infomation":None})
print Fore.RESET
self.is_topic_published = True
def check_publish_callback(msg, callback_args):
global is_topic_published, first_time_callback
is_topic_published = True
if callback_args["print_data"] and first_time_callback:
print INFO + "---"
first_time_callback = False
field_filter_fn = rostopic.create_field_filter(False, True)
callback_echo = rostopic.CallbackEcho(callback_args["topic"],
None,
plot=False,
filter_fn=None,
echo_clear=False,
echo_all_topics=False,
offset_time=False,
count=None,
field_filter_fn=field_filter_fn)
callback_echo.callback(msg, callback_args)
print ENDC
def callback(self, msg):
with self.is_topic_published_lock:
if self.echo and self.first_time_callback:
print Fore.MAGENTA + "--- Echo " + self.topic_name, Fore.RESET
self.first_time_callback = False
field_filter_fn = rostopic.create_field_filter(False, True)
callback_echo = rostopic.CallbackEcho(
self.topic_name,
None,
plot=False,
filter_fn=None,
echo_clear=False,
echo_all_topics=False,
offset_time=False,
count=None,
field_filter_fn=field_filter_fn)
print Fore.CYAN
callback_echo.callback(msg, {
"topic": self.topic_name,
"type_infomation": None
})
print Fore.RESET
self.is_topic_published = True
def callback(self, msg):
# Do not check topic type until the first topic comes in
if isinstance(msg, rospy.AnyMsg):
package, msg_type = msg._connection_header['type'].split('/')
ros_pkg = package + '.msg'
msg_class = getattr(import_module(ros_pkg), msg_type)
if (self.data_class is not None) and (msg_class
is not self.data_class):
raise rospy.ROSException('Topic msg type is different.')
self.sub.unregister()
deserialized_sub = rospy.Subscriber(self.topic_name, msg_class,
self.callback)
self.sub = deserialized_sub
if self.echo and self.msg is None: # this is first time
print(colored('--- Echo %s' % self.topic_name, 'purple'))
field_filter = rostopic.create_field_filter(
echo_nostr=False, echo_noarr=self.echo_noarr)
print(
colored(
genpy.message.strify_message(msg,
field_filter=field_filter),
'cyan'))
if rospy.Time.now() < self.deadline:
self.msg = msg
def test_sub_str_plot_fields(self):
from rostopic import _str_plot_fields
from std_msgs.msg import String, Int32, Header
from test_rostopic.msg import Simple, TVals, Floats, Arrays, Embed
from roslib.rostime import Time, Duration
from rostopic import create_field_filter
# str plotting requires rospy time, we fix time to a set time
import rospy.rostime
rospy.rostime.set_rostime_initialized(True)
rospy.rostime._set_rostime(Time(0, 1234))
r_time = Time(0, 5678)
# prepare test values
simple_v = Simple(1, -2, 3, -4, 'a', 7, 8, 9, 'bar')
simple_d = 'time,field.b,field.int16,field.int32,field.int64,field.c,field.uint16,field.uint32,field.uint64,field.str'
simple_nostr = 'time,field.b,field.int16,field.int32,field.int64,field.c,field.uint16,field.uint32,field.uint64'
arrays_v = Arrays([-1],
chr(2) + chr(3), [3, 4, 5], [6, 7, 8],
['a1', 'b2', 'b3'],
[Time(123, 456), Time(78, 90)])
arrays_d = 'time,field.int8_arr0,field.uint8_arr0,field.uint8_arr1,field.int32_arr0,field.int32_arr1,field.int32_arr2,field.uint32_arr0,field.uint32_arr1,field.uint32_arr2,field.string_arr0,field.string_arr1,field.string_arr2,field.time_arr0,field.time_arr1'
arrays_nostr = 'time,field.int8_arr0,field.uint8_arr0,field.uint8_arr1,field.int32_arr0,field.int32_arr1,field.int32_arr2,field.uint32_arr0,field.uint32_arr1,field.uint32_arr2,field.time_arr0,field.time_arr1'
embed_v = Embed(simple_v, arrays_v)
embed_d = simple_d.replace('field.',
'field.simple.') + ',' + arrays_d.replace(
'field.', 'field.arrays.')[5:]
embed_nostr = simple_nostr.replace(
'field.', 'field.simple.') + ',' + arrays_nostr.replace(
'field.', 'field.arrays.')[5:]
embed_noarr = simple_d.replace('field.', 'field.simple.')
embed_nostr_noarr = simple_nostr.replace('field.', 'field.simple.')
# test over all combinations of field filters
f = create_field_filter(echo_nostr=False, echo_noarr=False)
m = String()
self.assertEquals("time,field.data", _str_plot_fields(m, 'field', f))
m = String('foo')
self.assertEquals('time,field.data', _str_plot_fields(m, 'field', f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot_fields(m, 'field', f)
self.assertEquals('time,field.t,field.d', v)
m = simple_v
self.assertEquals(simple_d, _str_plot_fields(m, 'field', f))
m = arrays_v
self.assertEquals(arrays_d, _str_plot_fields(m, 'field', f))
m = embed_v
self.assertEquals(embed_d, _str_plot_fields(m, 'field', f))
f = create_field_filter(echo_nostr=True, echo_noarr=False)
m = String()
self.assertEquals("time,", _str_plot_fields(m, 'field', f))
m = String('foo')
self.assertEquals('time,', _str_plot_fields(m, 'field', f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot_fields(m, 'field', f)
self.assertEquals('time,field.t,field.d', v)
m = simple_v
self.assertEquals(simple_nostr, _str_plot_fields(m, 'field', f))
m = arrays_v
self.assertEquals(arrays_nostr, _str_plot_fields(m, 'field', f))
m = embed_v
self.assertEquals(embed_nostr, _str_plot_fields(m, 'field', f))
f = create_field_filter(echo_nostr=False, echo_noarr=True)
m = String()
self.assertEquals("time,field.data", _str_plot_fields(m, 'field', f))
m = String('foo')
self.assertEquals("time,field.data", _str_plot_fields(m, 'field', f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot_fields(m, 'field', f)
self.assertEquals('time,field.t,field.d', v)
m = simple_v
self.assertEquals(simple_d, _str_plot_fields(m, 'field', f))
m = arrays_v
self.assertEquals('time,', _str_plot_fields(m, 'field', f))
m = embed_v
self.assertEquals(embed_noarr, _str_plot_fields(m, 'field', f))
f = create_field_filter(echo_nostr=True, echo_noarr=True)
m = String()
self.assertEquals("time,", _str_plot_fields(m, 'field', f))
m = String('foo')
self.assertEquals('time,', _str_plot_fields(m, 'field', f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot_fields(m, 'field', f)
self.assertEquals('time,field.t,field.d', v)
m = simple_v
self.assertEquals(simple_nostr, _str_plot_fields(m, 'field', f))
m = arrays_v
self.assertEquals('time,', _str_plot_fields(m, 'field', f))
m = embed_v
self.assertEquals(embed_nostr_noarr, _str_plot_fields(m, 'field', f))
def test_create_field_filter(self):
from std_msgs.msg import String, Int32, Header
from test_rostopic.msg import Simple, TVals, Floats, Arrays, Embed
from rostopic import create_field_filter
f = create_field_filter(echo_nostr=False, echo_noarr=False)
m = String()
self.assertEquals(['data'], list(f(m)))
m = Int32()
self.assertEquals(['data'], list(f(m)))
m = Arrays()
self.assertEquals([
'int8_arr', 'uint8_arr', 'int32_arr', 'uint32_arr', 'string_arr',
'time_arr'
], list(f(m)))
m = Embed()
self.assertEquals(['simple', 'arrays'], list(f(m)))
m = Simple()
self.assertEquals([
'b', 'int16', 'int32', 'int64', 'c', 'uint16', 'uint32', 'uint64',
'str'
], list(f(m)))
m = Floats()
self.assertEquals(['float32', 'float64'], list(f(m)))
m = TVals()
self.assertEquals(['t', 'd'], list(f(m)))
m = Header()
self.assertEquals(['seq', 'stamp', 'frame_id'], list(f(m)))
f = create_field_filter(echo_nostr=True, echo_noarr=False)
m = String()
self.assertEquals([], list(f(m)))
m = Int32()
self.assertEquals(['data'], list(f(m)))
m = Arrays()
self.assertEquals(
['int8_arr', 'uint8_arr', 'int32_arr', 'uint32_arr', 'time_arr'],
list(f(m)))
m = Embed()
self.assertEquals(['simple', 'arrays'], list(f(m)))
m = Simple()
self.assertEquals([
'b', 'int16', 'int32', 'int64', 'c', 'uint16', 'uint32', 'uint64'
], list(f(m)))
m = Floats()
self.assertEquals(['float32', 'float64'], list(f(m)))
m = TVals()
self.assertEquals(['t', 'd'], list(f(m)))
m = Header()
self.assertEquals(['seq', 'stamp'], list(f(m)))
f = create_field_filter(echo_nostr=False, echo_noarr=True)
m = String()
self.assertEquals(['data'], list(f(m)))
m = Int32()
self.assertEquals(['data'], list(f(m)))
m = Arrays()
self.assertEquals([], list(f(m)))
m = Embed()
self.assertEquals(['simple', 'arrays'], list(f(m)))
m = Simple()
self.assertEquals([
'b', 'int16', 'int32', 'int64', 'c', 'uint16', 'uint32', 'uint64',
'str'
], list(f(m)))
m = Floats()
self.assertEquals(['float32', 'float64'], list(f(m)))
m = TVals()
self.assertEquals(['t', 'd'], list(f(m)))
m = Header()
self.assertEquals(['seq', 'stamp', 'frame_id'], list(f(m)))
f = create_field_filter(echo_nostr=True, echo_noarr=True)
m = String()
self.assertEquals([], list(f(m)))
m = Int32()
self.assertEquals(['data'], list(f(m)))
m = Arrays()
self.assertEquals([], list(f(m)))
m = Embed()
self.assertEquals(['simple', 'arrays'], list(f(m)))
m = Simple()
self.assertEquals([
'b', 'int16', 'int32', 'int64', 'c', 'uint16', 'uint32', 'uint64'
], list(f(m)))
m = Floats()
self.assertEquals(['float32', 'float64'], list(f(m)))
m = TVals()
self.assertEquals(['t', 'd'], list(f(m)))
m = Header()
self.assertEquals(['seq', 'stamp'], list(f(m)))
def test_strify_message(self):
# strify message is part of roslib, but we want to test with
# rostopic's field filters. It's also the case that
# roslib.messages cannot be unit tested within the ROS stack
# -- part of the reason it needs to be moved elsewhere.
from std_msgs.msg import String, Int32, Header
from test_rostopic.msg import Simple, TVals, Floats, Arrays, Embed
from roslib.rostime import Time, Duration
from roslib.message import strify_message
from rostopic import create_field_filter
simple_v = Simple(1, -2, 3, -4, 'a', 7, 8, 9, 'bar')
simple_d = {
'b': 1,
'int16': -2,
'int32': 3,
'int64': -4,
'c': 'a',
'uint16': 7,
'uint32': 8,
'uint64': 9,
'str': 'bar'
}
simple_nostr = simple_d.copy()
del simple_nostr['str']
arrays_v = Arrays([-1],
chr(2) + chr(3), [3, 4, 5], [6, 7, 8],
['a1', 'b2', 'b3'],
[Time(123, 456), Time(78, 90)])
arrays_d = {
'int8_arr': [-1],
'uint8_arr': [2, 3],
'int32_arr': [3, 4, 5],
'uint32_arr': [6, 7, 8],
'string_arr': ['a1', 'b2', 'b3'],
'time_arr': [{
'secs': 123,
'nsecs': 456
}, {
'secs': 78,
'nsecs': 90
}]
}
arrays_nostr = arrays_d.copy()
del arrays_nostr['string_arr']
embed_v = Embed(simple_v, arrays_v)
embed_d = {'simple': simple_d, 'arrays': arrays_d}
f = create_field_filter(echo_nostr=False, echo_noarr=False)
m = String()
self.assertEquals("data: ''", strify_message(m, field_filter=f))
m = String('foo')
self.assertEquals('data: foo', strify_message(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(
{
't': {
'secs': 123,
'nsecs': 456
},
'd': {
'secs': 78,
'nsecs': 90
}
}, v)
m = simple_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(simple_d, v)
m = arrays_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(arrays_d, v)
m = embed_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(embed_d, v)
f = create_field_filter(echo_nostr=True, echo_noarr=False)
m = String()
self.assertEquals('', strify_message(m, field_filter=f))
m = String('foo')
self.assertEquals('', strify_message(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(
{
't': {
'secs': 123,
'nsecs': 456
},
'd': {
'secs': 78,
'nsecs': 90
}
}, v)
m = simple_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(simple_nostr, v)
m = arrays_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(arrays_nostr, v)
m = embed_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals({'simple': simple_nostr, 'arrays': arrays_nostr}, v)
f = create_field_filter(echo_nostr=False, echo_noarr=True)
m = String()
self.assertEquals("data: ''", strify_message(m, field_filter=f))
m = String('foo')
self.assertEquals('data: foo', strify_message(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(
{
't': {
'secs': 123,
'nsecs': 456
},
'd': {
'secs': 78,
'nsecs': 90
}
}, v)
m = simple_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(simple_d, v)
m = arrays_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(None, v)
m = embed_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals({'simple': simple_d, 'arrays': None}, v)
f = create_field_filter(echo_nostr=True, echo_noarr=True)
m = String()
self.assertEquals('', strify_message(m, field_filter=f))
m = String('foo')
self.assertEquals('', strify_message(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(
{
't': {
'secs': 123,
'nsecs': 456
},
'd': {
'secs': 78,
'nsecs': 90
}
}, v)
m = simple_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(simple_nostr, v)
m = embed_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals({'simple': simple_nostr, 'arrays': None}, v)
def test_str_plot(self):
from rostopic import _str_plot
from std_msgs.msg import String, Int32, Header
from test_rostopic.msg import Simple, TVals, Floats, Arrays, Embed
from roslib.rostime import Time, Duration
from rostopic import create_field_filter
# str plotting requires rospy time, we fix time to a set time
import rospy.rostime
rospy.rostime.set_rostime_initialized(True)
rospy.rostime._set_rostime(Time(0, 1234))
r_time = Time(0, 5678)
# prepare test values
simple_v = Simple(1, -2, 3, -4, 'a', 7, 8, 9, 'bar')
simple_d = '1234,1,-2,3,-4,a,7,8,9,bar'
simple_nostr = '1234,1,-2,3,-4,a,7,8,9'
arrays_v = Arrays([-1],
chr(2) + chr(3), [3, 4, 5], [6, 7, 8],
['a1', 'b2', 'b3'],
[Time(123, 456), Time(78, 90)])
arrays_d = '1234,-1,2,3,3,4,5,6,7,8,a1,b2,b3,123000000456,78000000090'
arrays_nostr = '1234,-1,2,3,3,4,5,6,7,8,123000000456,78000000090'
embed_v = Embed(simple_v, arrays_v)
embed_d = simple_d + ',' + arrays_d[5:]
# test current_time override
m = String('foo')
self.assertEquals('5678,foo',
_str_plot(m, current_time=r_time, field_filter=None))
# test over all combinations of field filters
f = create_field_filter(echo_nostr=False, echo_noarr=False)
m = String()
self.assertEquals("1234,", _str_plot(m, field_filter=f))
m = String('foo')
self.assertEquals('1234,foo', _str_plot(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot(m, field_filter=f)
self.assertEquals('1234,123000000456,78000000090', v)
m = simple_v
self.assertEquals(simple_d, _str_plot(m, field_filter=f))
m = arrays_v
self.assertEquals(arrays_d, _str_plot(m, field_filter=f))
m = embed_v
self.assertEquals(embed_d, _str_plot(m, field_filter=f))
f = create_field_filter(echo_nostr=True, echo_noarr=False)
m = String()
self.assertEquals("1234,", _str_plot(m, field_filter=f))
m = String('foo')
self.assertEquals('1234,', _str_plot(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot(m, field_filter=f)
self.assertEquals('1234,123000000456,78000000090', v)
m = simple_v
self.assertEquals(simple_nostr, _str_plot(m, field_filter=f))
m = arrays_v
self.assertEquals(arrays_nostr, _str_plot(m, field_filter=f))
m = embed_v
self.assertEquals(simple_nostr + arrays_nostr[4:],
_str_plot(m, field_filter=f))
f = create_field_filter(echo_nostr=False, echo_noarr=True)
m = String()
self.assertEquals("1234,", _str_plot(m, field_filter=f))
m = String('foo')
self.assertEquals('1234,foo', _str_plot(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot(m, field_filter=f)
self.assertEquals('1234,123000000456,78000000090', v)
m = simple_v
self.assertEquals(simple_d, _str_plot(m, field_filter=f))
m = arrays_v
self.assertEquals('1234,', _str_plot(m, field_filter=f))
m = embed_v
self.assertEquals(simple_d, _str_plot(m, field_filter=f))
f = create_field_filter(echo_nostr=True, echo_noarr=True)
m = String()
self.assertEquals("1234,", _str_plot(m, field_filter=f))
m = String('foo')
self.assertEquals('1234,', _str_plot(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot(m, field_filter=f)
self.assertEquals('1234,123000000456,78000000090', v)
m = simple_v
self.assertEquals(simple_nostr, _str_plot(m, field_filter=f))
m = arrays_v
self.assertEquals('1234,', _str_plot(m, field_filter=f))
m = embed_v
self.assertEquals(simple_nostr, _str_plot(m, field_filter=f))
def test_sub_str_plot_fields(self):
from rostopic import _str_plot_fields
from std_msgs.msg import String
from test_rostopic.msg import Arrays, Embed, Simple, TVals
from genpy import Time, Duration
from rostopic import create_field_filter
# str plotting requires rospy time, we fix time to a set time
import rospy.rostime
rospy.rostime.set_rostime_initialized(True)
rospy.rostime._set_rostime(Time(0, 1234))
Time(0, 5678)
# prepare test values
simple_v = Simple(1, -2, 3, -4, 'a', 7, 8, 9, 'bar')
simple_d = 'time,field.b,field.int16,field.int32,field.int64,field.c,field.uint16,field.uint32,field.uint64,field.str'
simple_nostr = 'time,field.b,field.int16,field.int32,field.int64,field.c,field.uint16,field.uint32,field.uint64'
arrays_v = Arrays([-1], chr(2)+chr(3), [3, 4, 5], [6, 7, 8], ['a1', 'b2', 'b3'], [Time(123, 456), Time(78, 90)])
arrays_d = 'time,field.int8_arr0,field.uint8_arr0,field.uint8_arr1,field.int32_arr0,field.int32_arr1,field.int32_arr2,field.uint32_arr0,field.uint32_arr1,field.uint32_arr2,field.string_arr0,field.string_arr1,field.string_arr2,field.time_arr0,field.time_arr1'
arrays_nostr = 'time,field.int8_arr0,field.uint8_arr0,field.uint8_arr1,field.int32_arr0,field.int32_arr1,field.int32_arr2,field.uint32_arr0,field.uint32_arr1,field.uint32_arr2,field.time_arr0,field.time_arr1'
embed_v = Embed(simple_v, arrays_v)
embed_d = simple_d.replace('field.', 'field.simple.')+','+arrays_d.replace('field.', 'field.arrays.')[5:]
embed_nostr = simple_nostr.replace('field.', 'field.simple.')+','+arrays_nostr.replace('field.', 'field.arrays.')[5:]
embed_noarr = simple_d.replace('field.', 'field.simple.')
embed_nostr_noarr = simple_nostr.replace('field.', 'field.simple.')
# test over all combinations of field filters
f = create_field_filter(echo_nostr=False, echo_noarr=False)
m = String()
self.assertEquals("time,field.data", _str_plot_fields(m, 'field', f))
m = String('foo')
self.assertEquals('time,field.data', _str_plot_fields(m, 'field', f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot_fields(m, 'field', f)
self.assertEquals('time,field.t,field.d', v)
m = simple_v
self.assertEquals(simple_d, _str_plot_fields(m, 'field', f))
m = arrays_v
self.assertEquals(arrays_d, _str_plot_fields(m, 'field', f))
m = embed_v
self.assertEquals(embed_d, _str_plot_fields(m, 'field', f))
f = create_field_filter(echo_nostr=True, echo_noarr=False)
m = String()
self.assertEquals("time,", _str_plot_fields(m, 'field', f))
m = String('foo')
self.assertEquals('time,', _str_plot_fields(m, 'field', f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot_fields(m, 'field', f)
self.assertEquals('time,field.t,field.d', v)
m = simple_v
self.assertEquals(simple_nostr, _str_plot_fields(m, 'field', f))
m = arrays_v
self.assertEquals(arrays_nostr, _str_plot_fields(m, 'field', f))
m = embed_v
self.assertEquals(embed_nostr, _str_plot_fields(m, 'field', f))
f = create_field_filter(echo_nostr=False, echo_noarr=True)
m = String()
self.assertEquals("time,field.data", _str_plot_fields(m, 'field', f))
m = String('foo')
self.assertEquals("time,field.data", _str_plot_fields(m, 'field', f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot_fields(m, 'field', f)
self.assertEquals('time,field.t,field.d', v)
m = simple_v
self.assertEquals(simple_d, _str_plot_fields(m, 'field', f))
m = arrays_v
self.assertEquals('time,', _str_plot_fields(m, 'field', f))
m = embed_v
self.assertEquals(embed_noarr, _str_plot_fields(m, 'field', f))
f = create_field_filter(echo_nostr=True, echo_noarr=True)
m = String()
self.assertEquals("time,", _str_plot_fields(m, 'field', f))
m = String('foo')
self.assertEquals('time,', _str_plot_fields(m, 'field', f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot_fields(m, 'field', f)
self.assertEquals('time,field.t,field.d', v)
m = simple_v
self.assertEquals(simple_nostr, _str_plot_fields(m, 'field', f))
m = arrays_v
self.assertEquals('time,', _str_plot_fields(m, 'field', f))
m = embed_v
self.assertEquals(embed_nostr_noarr, _str_plot_fields(m, 'field', f))
def test_create_field_filter(self):
from std_msgs.msg import Header, Int32, String
from test_rostopic.msg import Arrays, Embed, Floats, Simple, TVals
from rostopic import create_field_filter
f = create_field_filter(echo_nostr=False, echo_noarr=False)
m = String()
self.assertEquals(['data'], list(f(m)))
m = Int32()
self.assertEquals(['data'], list(f(m)))
m = Arrays()
self.assertEquals(['int8_arr', 'uint8_arr', 'int32_arr', 'uint32_arr', 'string_arr', 'time_arr'], list(f(m)))
m = Embed()
self.assertEquals(['simple', 'arrays'], list(f(m)))
m = Simple()
self.assertEquals(['b', 'int16', 'int32', 'int64', 'c', 'uint16', 'uint32', 'uint64', 'str'], list(f(m)))
m = Floats()
self.assertEquals(['float32', 'float64'], list(f(m)))
m = TVals()
self.assertEquals(['t', 'd'], list(f(m)))
m = Header()
self.assertEquals(['seq', 'stamp', 'frame_id'], list(f(m)))
f = create_field_filter(echo_nostr=True, echo_noarr=False)
m = String()
self.assertEquals([], list(f(m)))
m = Int32()
self.assertEquals(['data'], list(f(m)))
m = Arrays()
self.assertEquals(['int8_arr', 'uint8_arr', 'int32_arr', 'uint32_arr', 'time_arr'], list(f(m)))
m = Embed()
self.assertEquals(['simple', 'arrays'], list(f(m)))
m = Simple()
self.assertEquals(['b', 'int16', 'int32', 'int64', 'c', 'uint16', 'uint32', 'uint64'], list(f(m)))
m = Floats()
self.assertEquals(['float32', 'float64'], list(f(m)))
m = TVals()
self.assertEquals(['t', 'd'], list(f(m)))
m = Header()
self.assertEquals(['seq', 'stamp'], list(f(m)))
f = create_field_filter(echo_nostr=False, echo_noarr=True)
m = String()
self.assertEquals(['data'], list(f(m)))
m = Int32()
self.assertEquals(['data'], list(f(m)))
m = Arrays()
self.assertEquals([], list(f(m)))
m = Embed()
self.assertEquals(['simple', 'arrays'], list(f(m)))
m = Simple()
self.assertEquals(['b', 'int16', 'int32', 'int64', 'c', 'uint16', 'uint32', 'uint64', 'str'], list(f(m)))
m = Floats()
self.assertEquals(['float32', 'float64'], list(f(m)))
m = TVals()
self.assertEquals(['t', 'd'], list(f(m)))
m = Header()
self.assertEquals(['seq', 'stamp', 'frame_id'], list(f(m)))
f = create_field_filter(echo_nostr=True, echo_noarr=True)
m = String()
self.assertEquals([], list(f(m)))
m = Int32()
self.assertEquals(['data'], list(f(m)))
m = Arrays()
self.assertEquals([], list(f(m)))
m = Embed()
self.assertEquals(['simple', 'arrays'], list(f(m)))
m = Simple()
self.assertEquals(['b', 'int16', 'int32', 'int64', 'c', 'uint16', 'uint32', 'uint64'], list(f(m)))
m = Floats()
self.assertEquals(['float32', 'float64'], list(f(m)))
m = TVals()
self.assertEquals(['t', 'd'], list(f(m)))
m = Header()
self.assertEquals(['seq', 'stamp'], list(f(m)))
def test_strify_message(self):
# strify message is part of roslib, but we want to test with
# rostopic's field filters. It's also the case that
# roslib.messages cannot be unit tested within the ROS stack
# -- part of the reason it needs to be moved elsewhere.
from std_msgs.msg import String
from test_rostopic.msg import Arrays, Embed, Simple, TVals
from genpy import Time, Duration
from roslib.message import strify_message
from rostopic import create_field_filter
simple_v = Simple(1, -2, 3, -4, 'a', 7, 8, 9, 'bar')
simple_d = {'b': 1, 'int16': -2, 'int32': 3, 'int64': -4, 'c': 'a', 'uint16': 7, 'uint32': 8, 'uint64': 9, 'str': 'bar'}
simple_nostr = simple_d.copy()
del simple_nostr['str']
arrays_v = Arrays([-1], chr(2)+chr(3), [3, 4, 5], [6, 7, 8], ['a1', 'b2', 'b3'], [Time(123, 456), Time(78, 90)])
arrays_d = {'int8_arr': [-1], 'uint8_arr': [2, 3], 'int32_arr': [3, 4, 5], 'uint32_arr': [6, 7, 8], 'string_arr': ['a1', 'b2', 'b3'], 'time_arr': [{'secs': 123, 'nsecs': 456}, {'secs': 78, 'nsecs': 90}]}
arrays_nostr = arrays_d.copy()
del arrays_nostr['string_arr']
embed_v = Embed(simple_v, arrays_v)
embed_d = {'simple': simple_d, 'arrays': arrays_d}
f = create_field_filter(echo_nostr=False, echo_noarr=False)
m = String()
self.assertEquals("data: ''", strify_message(m, field_filter=f))
m = String('foo')
self.assertEquals('data: foo', strify_message(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals({'t': {'secs': 123, 'nsecs': 456}, 'd': {'secs': 78, 'nsecs': 90}}, v)
m = simple_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(simple_d, v)
m = arrays_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(arrays_d, v)
m = embed_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(embed_d, v)
f = create_field_filter(echo_nostr=True, echo_noarr=False)
m = String()
self.assertEquals('', strify_message(m, field_filter=f))
m = String('foo')
self.assertEquals('', strify_message(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals({'t': {'secs': 123, 'nsecs': 456}, 'd': {'secs': 78, 'nsecs': 90}}, v)
m = simple_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(simple_nostr, v)
m = arrays_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(arrays_nostr, v)
m = embed_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals({'simple': simple_nostr, 'arrays': arrays_nostr}, v)
f = create_field_filter(echo_nostr=False, echo_noarr=True)
m = String()
self.assertEquals("data: ''", strify_message(m, field_filter=f))
m = String('foo')
self.assertEquals('data: foo', strify_message(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals({'t': {'secs': 123, 'nsecs': 456}, 'd': {'secs': 78, 'nsecs': 90}}, v)
m = simple_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(simple_d, v)
m = arrays_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(None, v)
m = embed_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals({'simple': simple_d, 'arrays': None}, v)
f = create_field_filter(echo_nostr=True, echo_noarr=True)
m = String()
self.assertEquals('', strify_message(m, field_filter=f))
m = String('foo')
self.assertEquals('', strify_message(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals({'t': {'secs': 123, 'nsecs': 456}, 'd': {'secs': 78, 'nsecs': 90}}, v)
m = simple_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals(simple_nostr, v)
m = embed_v
v = yaml.load(strify_message(m, field_filter=f))
self.assertEquals({'simple': simple_nostr, 'arrays': None}, v)
def test_str_plot(self):
from rostopic import _str_plot
from std_msgs.msg import String
from test_rostopic.msg import Arrays, Embed, Simple, TVals
from genpy import Time, Duration
from rostopic import create_field_filter
# str plotting requires rospy time, we fix time to a set time
import rospy.rostime
rospy.rostime.set_rostime_initialized(True)
rospy.rostime._set_rostime(Time(0, 1234))
r_time = Time(0, 5678)
# prepare test values
simple_v = Simple(1, -2, 3, -4, 'a', 7, 8, 9, 'bar')
simple_d = '1234,1,-2,3,-4,a,7,8,9,bar'
simple_nostr = '1234,1,-2,3,-4,a,7,8,9'
arrays_v = Arrays([-1], chr(2)+chr(3), [3, 4, 5], [6, 7, 8], ['a1', 'b2', 'b3'], [Time(123, 456), Time(78, 90)])
arrays_d = '1234,-1,2,3,3,4,5,6,7,8,a1,b2,b3,123000000456,78000000090'
arrays_nostr = '1234,-1,2,3,3,4,5,6,7,8,123000000456,78000000090'
embed_v = Embed(simple_v, arrays_v)
embed_d = simple_d+','+arrays_d[5:]
# test current_time override
m = String('foo')
self.assertEquals('5678,foo', _str_plot(m, current_time=r_time, field_filter=None))
# test over all combinations of field filters
f = create_field_filter(echo_nostr=False, echo_noarr=False)
m = String()
self.assertEquals("1234,", _str_plot(m, field_filter=f))
m = String('foo')
self.assertEquals('1234,foo', _str_plot(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot(m, field_filter=f)
self.assertEquals('1234,123000000456,78000000090', v)
m = simple_v
self.assertEquals(simple_d, _str_plot(m, field_filter=f))
m = arrays_v
self.assertEquals(arrays_d, _str_plot(m, field_filter=f))
m = embed_v
self.assertEquals(embed_d, _str_plot(m, field_filter=f))
f = create_field_filter(echo_nostr=True, echo_noarr=False)
m = String()
self.assertEquals("1234,", _str_plot(m, field_filter=f))
m = String('foo')
self.assertEquals('1234,', _str_plot(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot(m, field_filter=f)
self.assertEquals('1234,123000000456,78000000090', v)
m = simple_v
self.assertEquals(simple_nostr, _str_plot(m, field_filter=f))
m = arrays_v
self.assertEquals(arrays_nostr, _str_plot(m, field_filter=f))
m = embed_v
self.assertEquals(simple_nostr+arrays_nostr[4:], _str_plot(m, field_filter=f))
f = create_field_filter(echo_nostr=False, echo_noarr=True)
m = String()
self.assertEquals("1234,", _str_plot(m, field_filter=f))
m = String('foo')
self.assertEquals('1234,foo', _str_plot(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot(m, field_filter=f)
self.assertEquals('1234,123000000456,78000000090', v)
m = simple_v
self.assertEquals(simple_d, _str_plot(m, field_filter=f))
m = arrays_v
self.assertEquals('1234,', _str_plot(m, field_filter=f))
m = embed_v
self.assertEquals(simple_d, _str_plot(m, field_filter=f))
f = create_field_filter(echo_nostr=True, echo_noarr=True)
m = String()
self.assertEquals("1234,", _str_plot(m, field_filter=f))
m = String('foo')
self.assertEquals('1234,', _str_plot(m, field_filter=f))
m = TVals(Time(123, 456), Duration(78, 90))
v = _str_plot(m, field_filter=f)
self.assertEquals('1234,123000000456,78000000090', v)
m = simple_v
self.assertEquals(simple_nostr, _str_plot(m, field_filter=f))
m = arrays_v
self.assertEquals('1234,', _str_plot(m, field_filter=f))
m = embed_v
self.assertEquals(simple_nostr, _str_plot(m, field_filter=f))
