def test_sub_str_plot_fields(self):
from rostopic import _str_plot_fields
from std_msgs.msg import String, Int32, Header
from test_ros.msg import Simple, TVals, Floats, Arrays, Embed
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 = '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_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_ros.msg import Simple, TVals, Floats, Arrays, Embed
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_create_field_filter(self):
from std_msgs.msg import String, Int32, Header
from test_ros.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_str_plot(self):
from rostopic import _str_plot
from std_msgs.msg import String, Int32, Header
from test_ros.msg import Simple, TVals, Floats, Arrays, Embed
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))