test_joy_msg_migration.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2008, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
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00010 #
00011 #  * Redistributions of source code must retain the above copyright
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00013 #  * Redistributions in binary form must reproduce the above
00014 #    copyright notice, this list of conditions and the following
00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
00017 #  * Neither the name of Willow Garage, Inc. nor the names of its
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00019 #    from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 # POSSIBILITY OF SUCH DAMAGE.
00033 #
00034 
00035 import roslib
00036 roslib.load_manifest('joy')
00037 
00038 import sys
00039 import struct
00040 
00041 import unittest
00042 
00043 import rostest
00044 import rosbag
00045 import rosbagmigration
00046 
00047 import re
00048 from cStringIO import StringIO
00049 import os
00050 
00051 import rospy
00052 
00053 
00054 
00055 migrator = rosbagmigration.MessageMigrator()
00056 
00057 
00058 def repack(x):
00059   return struct.unpack('<f',struct.pack('<f',x))[0]
00060 
00061 class TestJoyMsgsMigration(unittest.TestCase):
00062 
00063 # (*) Joy.saved
00064 
00065 ########### Joy ###############
00066 
00067 
00068   def get_old_joy(self):
00069     joy_classes = self.load_saved_classes('Joy.saved')
00070     joy  = joy_classes['joy/Joy']
00071     return joy([0.1,0.2,0.3,0.4,0.5],[0,1,0,1,0])
00072 
00073   def get_new_joy(self):
00074     from sensor_msgs.msg import Joy
00075     from roslib.msg import Header
00076     return Joy(Header(),[0.1,0.2,0.3,0.4,0.5],[0,1,0,1,0])
00077 
00078 
00079   def test_joy(self):
00080     self.do_test('joy', self.get_old_joy, self.get_new_joy)
00081 
00082 ########### Helper functions ###########
00083 
00084   def setUp(self):
00085     self.pkg_dir = roslib.packages.get_pkg_dir("joy")
00086 
00087 
00088   def load_saved_classes(self,saved_msg):
00089     f = open("%s/test/saved/%s"%(self.pkg_dir,saved_msg), 'r')
00090 
00091     type_line = f.readline()
00092     pat = re.compile(r"\[(.*)]:")
00093     type_match = pat.match(type_line)
00094 
00095     self.assertTrue(type_match is not None, "Full definition file malformed.  First line should be: '[my_package/my_msg]:'")
00096 
00097     saved_type = type_match.groups()[0]
00098     saved_full_text = f.read()
00099 
00100     saved_classes = roslib.genpy.generate_dynamic(saved_type,saved_full_text)
00101 
00102     self.assertTrue(saved_classes is not None, "Could not generate class from full definition file.")
00103     self.assertTrue(saved_classes.has_key(saved_type), "Could not generate class from full definition file.")
00104 
00105     return saved_classes
00106 
00107   def do_test(self, name, old_msg, new_msg):
00108     # Name the bags
00109     oldbag = "%s/test/%s_old.bag"%(self.pkg_dir,name)
00110     newbag = "%s/test/%s_new.bag"%(self.pkg_dir,name)
00111 
00112     # Create an old message
00113     bag = rosbag.Bag(oldbag, 'w')
00114     bag.write("topic", old_msg(), roslib.rostime.Time())
00115     bag.close()
00116 
00117     # Check and migrate
00118     res = rosbagmigration.checkbag(migrator, oldbag)
00119     self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
00120     res = rosbagmigration.fixbag(migrator, oldbag, newbag)
00121     self.assertTrue(res, 'Bag not converted successfully')
00122 
00123     # Pull the first message out of the bag
00124     topic, msg, t = rosbag.Bag(newbag).read_messages().next()
00125 
00126     # Reserialize the new message so that floats get screwed up, etc.
00127     m = new_msg()
00128     buff = StringIO()
00129     m.serialize(buff)
00130     m.deserialize(buff.getvalue())
00131     
00132     # Strifying them helps make the comparison easier until I figure out why the equality operator is failing
00133     self.assertTrue(roslib.message.strify_message(msg) == roslib.message.strify_message(m))
00134 #    self.assertTrue(msgs[0][1] == m)
00135 
00136     #Cleanup
00137     os.remove(oldbag)
00138     os.remove(newbag)
00139 
00140 
00141 if __name__ == '__main__':
00142   rostest.unitrun('test_joy_msg', 'test_joy_msg_migration', TestJoyMsgsMigration, sys.argv)


joy
Author(s): Morgan Quigley, Brian Gerkey, Kevin Watts, Blaise Gassend
autogenerated on Thu Aug 27 2015 13:35:56