test_joy_msg_migration.py

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#!/usr/bin/env python
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import roslib
roslib.load_manifest('joy')

import sys
import struct

import unittest

import rostest
import rosbag
import rosbagmigration

import re
from cStringIO import StringIO
import os

import rospy



migrator = rosbagmigration.MessageMigrator()


def repack(x):
  return struct.unpack('<f',struct.pack('<f',x))[0]

class TestJoyMsgsMigration(unittest.TestCase):

# (*) Joy.saved

########### Joy ###############


  def get_old_joy(self):
    joy_classes = self.load_saved_classes('Joy.saved')
    joy  = joy_classes['joy/Joy']
    return joy([0.1,0.2,0.3,0.4,0.5],[0,1,0,1,0])

  def get_new_joy(self):
    from sensor_msgs.msg import Joy
    from roslib.msg import Header
    return Joy(Header(),[0.1,0.2,0.3,0.4,0.5],[0,1,0,1,0])


  def test_joy(self):
    self.do_test('joy', self.get_old_joy, self.get_new_joy)

########### Helper functions ###########

  def setUp(self):
    self.pkg_dir = roslib.packages.get_pkg_dir("joy")


  def load_saved_classes(self,saved_msg):
    f = open("%s/test/saved/%s"%(self.pkg_dir,saved_msg), 'r')

    type_line = f.readline()
    pat = re.compile(r"\[(.*)]:")
    type_match = pat.match(type_line)

    self.assertTrue(type_match is not None, "Full definition file malformed.  First line should be: '[my_package/my_msg]:'")

    saved_type = type_match.groups()[0]
    saved_full_text = f.read()

    saved_classes = roslib.genpy.generate_dynamic(saved_type,saved_full_text)

    self.assertTrue(saved_classes is not None, "Could not generate class from full definition file.")
    self.assertTrue(saved_classes.has_key(saved_type), "Could not generate class from full definition file.")

    return saved_classes

  def do_test(self, name, old_msg, new_msg):
    # Name the bags
    oldbag = "%s/test/%s_old.bag"%(self.pkg_dir,name)
    newbag = "%s/test/%s_new.bag"%(self.pkg_dir,name)

    # Create an old message
    bag = rosbag.Bag(oldbag, 'w')
    bag.write("topic", old_msg(), roslib.rostime.Time())
    bag.close()

    # Check and migrate
    res = rosbagmigration.checkbag(migrator, oldbag)
    self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
    res = rosbagmigration.fixbag(migrator, oldbag, newbag)
    self.assertTrue(res, 'Bag not converted successfully')

    # Pull the first message out of the bag
    topic, msg, t = rosbag.Bag(newbag).read_messages().next()

    # Reserialize the new message so that floats get screwed up, etc.
    m = new_msg()
    buff = StringIO()
    m.serialize(buff)
    m.deserialize(buff.getvalue())
    
    # Strifying them helps make the comparison easier until I figure out why the equality operator is failing
    self.assertTrue(roslib.message.strify_message(msg) == roslib.message.strify_message(m))
#    self.assertTrue(msgs[0][1] == m)

    #Cleanup
    os.remove(oldbag)
    os.remove(newbag)


if __name__ == '__main__':
  rostest.unitrun('test_joy_msg', 'test_joy_msg_migration', TestJoyMsgsMigration, sys.argv)