test_bag_to_bag.py

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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Test: grep input bags to bag output.
 
------------------------------------------------------------------------------
This file is part of grepros - grep for ROS bag files and live topics.
Released under the BSD License.
 
@author      Erki Suurjaak
@created     22.12.2021
@modified    25.12.2021
------------------------------------------------------------------------------
"""
import logging
import os
import sys
 
sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
from test import testbase
 
logger = logging.getLogger()
 
 
class TestBagInputBagOutput(testbase.TestBase):
    """Tests grepping from input bags and writing matches to bag."""
 
    
    NAME = os.path.splitext(os.path.basename(__file__))[0]
 
    
    OUTPUT_LABEL = "ROS bag"
 
    
    OUTPUT_SUFFIX = testbase.TestBase.BAG_SUFFIX
 
    def setUp(self):
        """Collects bags in data directory, assembles command."""
        super().setUp()
        self._cmd = self.CMD_BASE + ["--no-console-output", "--write", self._outname]
 
    def test_grepros(self):
        """Runs grepros on bags in data directory, verifies bag output."""
        self.verify_bags()
        self.run_command()
        self.assertTrue(os.path.isfile(self._outname), "Expected output file not written.")
 
        logger.info("Reading data from written %s.", self.OUTPUT_LABEL)
        messages = {}  # {topic: [msg, ]}
        outfile = self._outfile = testbase.BagReader(self._outname)
        for topic, msg, _ in outfile.read_messages():
            messages.setdefault(topic, []).append(msg)
        outfile.close()
 
        fulltext = "\n".join(str(m) for mm in messages.values() for m in mm)
        super().verify_topics(messages, fulltext)
 
 
if "__main__" == __name__:
    TestBagInputBagOutput.run_rostest()