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 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 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 00018 # contributors may be used to endorse or promote products derived 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 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 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 import os 00035 import sys 00036 import struct 00037 import unittest 00038 import time 00039 00040 try: 00041 import numpy 00042 disable = False 00043 except ImportError: 00044 print "cannot import numpy, test is disabled" 00045 disable = True 00046 00047 # this is partially a teste of the rospy/Tutorials/numpy 00048 from test_rospy.msg import Floats 00049 00050 import cStringIO 00051 # test rospy.names package 00052 class TestRospyNumpy(unittest.TestCase): 00053 00054 def test_floats(self): 00055 if disable: 00056 return 00057 vals = [1.0, 2.1, 3.2, 4.3, 5.4, 6.5] 00058 b = cStringIO.StringIO() 00059 f = Floats(numpy.array([1.0, 2.1, 3.2, 4.3, 5.4, 6.5], dtype=numpy.float32)) 00060 f.serialize(b) 00061 00062 # deserialize twice, once with numpy wrappers, once without 00063 f2 = Floats() 00064 self.assert_(type(f2.data) == list) 00065 f2.deserialize(b.getvalue()) 00066 for x, y in zip(f2.data, vals): 00067 self.assertAlmostEquals(x, y, 2) 00068 00069 from rospy.numpy_msg import numpy_msg 00070 f3 = numpy_msg(Floats)() 00071 if 0: 00072 # future 00073 self.assert_(isinstance(f3.data, numpy.ndarray), type(f3.data)) 00074 f3.deserialize(b.getvalue()) 00075 self.assert_(isinstance(f3.data, numpy.ndarray), type(f3.data)) 00076 v = numpy.equal(f3.data, numpy.array([1.0, 2.1, 3.2, 4.3, 5.4, 6.5], dtype=numpy.float32)) 00077 self.assert_(v.all())