test_joy_msg_migration.py
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1 #!/usr/bin/env python
2 # Software License Agreement (BSD License)
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34 
35 import roslib
36 roslib.load_manifest('joy')
37 
38 import sys
39 import struct
40 
41 import unittest
42 
43 import rostest
44 import rosbag
45 import rosbagmigration
46 
47 import re
48 from cStringIO import StringIO
49 import os
50 
51 import rospy
52 
53 
54 
55 migrator = rosbagmigration.MessageMigrator()
56 
57 
58 def repack(x):
59  return struct.unpack('<f',struct.pack('<f',x))[0]
60 
61 class TestJoyMsgsMigration(unittest.TestCase):
62 
63 # (*) Joy.saved
64 
65 ########### Joy ###############
66 
67 
68  def get_old_joy(self):
69  joy_classes = self.load_saved_classes('Joy.saved')
70  joy = joy_classes['joy/Joy']
71  return joy([0.1,0.2,0.3,0.4,0.5],[0,1,0,1,0])
72 
73  def get_new_joy(self):
74  from sensor_msgs.msg import Joy
75  from roslib.msg import Header
76  return Joy(Header(),[0.1,0.2,0.3,0.4,0.5],[0,1,0,1,0])
77 
78 
79  def test_joy(self):
80  self.do_test('joy', self.get_old_joy, self.get_new_joy)
81 
82 ########### Helper functions ###########
83 
84  def setUp(self):
85  self.pkg_dir = roslib.packages.get_pkg_dir("joy")
86 
87 
88  def load_saved_classes(self,saved_msg):
89  f = open("%s/test/saved/%s"%(self.pkg_dir,saved_msg), 'r')
90 
91  type_line = f.readline()
92  pat = re.compile(r"\[(.*)]:")
93  type_match = pat.match(type_line)
94 
95  self.assertTrue(type_match is not None, "Full definition file malformed. First line should be: '[my_package/my_msg]:'")
96 
97  saved_type = type_match.groups()[0]
98  saved_full_text = f.read()
99 
100  saved_classes = roslib.genpy.generate_dynamic(saved_type,saved_full_text)
101 
102  self.assertTrue(saved_classes is not None, "Could not generate class from full definition file.")
103  self.assertTrue(saved_classes.has_key(saved_type), "Could not generate class from full definition file.")
104 
105  return saved_classes
106 
107  def do_test(self, name, old_msg, new_msg):
108  # Name the bags
109  oldbag = "%s/test/%s_old.bag"%(self.pkg_dir,name)
110  newbag = "%s/test/%s_new.bag"%(self.pkg_dir,name)
111 
112  # Create an old message
113  bag = rosbag.Bag(oldbag, 'w')
114  bag.write("topic", old_msg(), roslib.rostime.Time())
115  bag.close()
116 
117  # Check and migrate
118  res = rosbagmigration.checkbag(migrator, oldbag)
119  self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
120  res = rosbagmigration.fixbag(migrator, oldbag, newbag)
121  self.assertTrue(res, 'Bag not converted successfully')
122 
123  # Pull the first message out of the bag
124  topic, msg, t = rosbag.Bag(newbag).read_messages().next()
125 
126  # Reserialize the new message so that floats get screwed up, etc.
127  m = new_msg()
128  buff = StringIO()
129  m.serialize(buff)
130  m.deserialize(buff.getvalue())
131 
132  # Strifying them helps make the comparison easier until I figure out why the equality operator is failing
133  self.assertTrue(roslib.message.strify_message(msg) == roslib.message.strify_message(m))
134 # self.assertTrue(msgs[0][1] == m)
135 
136  #Cleanup
137  os.remove(oldbag)
138  os.remove(newbag)
139 
140 
141 if __name__ == '__main__':
142  rostest.unitrun('test_joy_msg', 'test_joy_msg_migration', TestJoyMsgsMigration, sys.argv)
def load_saved_classes(self, saved_msg)
def get_old_joy(self)
Joy ###############.
def setUp(self)
Helper functions ###########.
def do_test(self, name, old_msg, new_msg)


joy
Author(s): Morgan Quigley, Brian Gerkey, Kevin Watts, Blaise Gassend
autogenerated on Fri Jun 7 2019 22:01:30