test_bag_to_live.py

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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Test: grep input bags to live topics output.
 
------------------------------------------------------------------------------
This file is part of grepros - grep for ROS bag files and live topics.
Released under the BSD License.
 
@author      Erki Suurjaak
@created     23.12.2021
@modified    24.12.2021
------------------------------------------------------------------------------
"""
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 TestBagInputLiveOutput(testbase.TestBase):
    """Tests grepping from input bags and publishing matches to live topics."""
 
    
    NAME = os.path.splitext(os.path.basename(__file__))[0]
 
    
    OUTPUT_LABEL = "live topics"
 
    def __init__(self, *args, **kwargs):
        super().__init__(*args, **kwargs)
        self._msgs = {}  # {topic: [msg, ]}
        self.init_node()
 
    def setUp(self):
        """Collects bags in data directory, assembles command."""
        super().setUp()
        self._cmd = self.CMD_BASE + ["--publish", "--no-console-output"]
 
    def test_grepros(self):
        """Runs grepros on bags in data directory, verifies live topics output."""
        self.verify_bags()
        fulltext = self.run_command()
        self.assertTrue(fulltext, "Command did not print to console.")
        self.verify_topics(fulltext)
 
 
if "__main__" == __name__:
    TestBagInputLiveOutput.run_rostest()