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00033 import roslib
00034 roslib.load_manifest('test_rosbag')
00035
00036 import rospy
00037 import random
00038 import roslib.msgs
00039 import roslib.genpy
00040
00041 def get_sub_defs(msg_fqn, msg_txt):
00042 def_dict = {}
00043 defs = msg_txt.split("\n" + "="*80 + "\n")
00044 def_dict[msg_fqn] = defs[0]
00045 for d in defs[1:]:
00046 lines = d.splitlines()
00047 if not lines[0].startswith("MSG: "):
00048 raise Exception("Invalid sub definition!")
00049 type = lines[0][5:].strip()
00050 def_txt = "\n".join(lines[1:])
00051 def_dict[type] = def_txt
00052 return def_dict
00053
00054 class RandomMsgGen(object):
00055 def randstr(self, length=0):
00056 if length == 0:
00057 length = self.rand.randint(3,10)
00058 return ''.join([chr(self.rand.randint(ord('a'), ord('z'))) for i in xrange(length)])
00059
00060 def __init__(self, seed, num_topics, duration):
00061 self.message_defs = {}
00062 self.message_dict = {}
00063 self.topic_dict = {}
00064 self.duration = duration
00065 self.output = []
00066
00067 self.rand = random.Random(seed)
00068
00069 for i in xrange(num_topics):
00070 msg_pkg = self.randstr()
00071 msg_name = self.randstr()
00072 msg_fqn = "%s/%s"%(msg_pkg,msg_name)
00073 msg_fields = []
00074
00075 msg_def = ""
00076 msg_sub_defs = {}
00077
00078 for j in xrange(self.rand.randint(3,5)):
00079 field_name = self.randstr()
00080 field_type = self.rand.choice(roslib.msgs.BUILTIN_TYPES + self.message_defs.keys())
00081 field_array = self.rand.choice(5*[""]+["[]","[%d]"%self.rand.randint(1,10)])
00082
00083 if (field_type not in roslib.msgs.BUILTIN_TYPES):
00084 tmp = get_sub_defs(field_type, self.message_defs[field_type])
00085 for (sm_type, sm_def) in tmp.iteritems():
00086 msg_sub_defs[sm_type] = sm_def
00087
00088 msg_def = msg_def + "%s%s %s\n"%(field_type, field_array, field_name)
00089
00090 for (t,d) in msg_sub_defs.iteritems():
00091 msg_def = msg_def + "\n" + "="*80 + "\n"
00092 msg_def = msg_def + "MSG: %s\n"%(t)
00093 msg_def = msg_def + d
00094
00095 self.message_defs[msg_fqn] = msg_def
00096
00097 topic_name = self.randstr()
00098
00099 self.message_dict[msg_fqn] = roslib.genpy.generate_dynamic(msg_fqn, msg_def)[msg_fqn]
00100 self.topic_dict[topic_name] = self.message_dict[msg_fqn]
00101
00102 time = 0.0
00103 while time < duration:
00104 topic = self.rand.choice(self.topic_dict.keys())
00105 msg_inst = self.rand_value(self.topic_dict[topic]._type)
00106 self.output.append((topic, msg_inst, time))
00107 time = time + self.rand.random()*.01
00108
00109 def topics(self):
00110 return self.topic_dict.iteritems()
00111
00112 def messages(self):
00113 for m in self.output:
00114 yield m
00115
00116 def message_count(self):
00117 return len(self.output)
00118
00119 def rand_value(self, field_type):
00120 if field_type == 'bool':
00121 return self.rand.randint(0,1)
00122 elif field_type == 'byte':
00123 return self.rand.randint(0,2**7-1)
00124 elif field_type == 'int8':
00125 return self.rand.randint(-2**7,2**7-1)
00126 elif field_type == 'int16':
00127 return self.rand.randint(-2**15,2**15-1)
00128 elif field_type == 'int32':
00129 return self.rand.randint(-2**31,2**31-1)
00130 elif field_type == 'int64':
00131 return self.rand.randint(-2**63,2**63-1)
00132 elif field_type == 'char':
00133 return self.rand.randint(0,2**8-1)
00134 elif field_type == 'uint8':
00135 return self.rand.randint(0,2**8-1)
00136 elif field_type == 'uint16':
00137 return self.rand.randint(0,2**16-1)
00138 elif field_type == 'uint32':
00139 return self.rand.randint(0,2**32-1)
00140 elif field_type == 'uint64':
00141 return self.rand.randint(0,2**64-1)
00142 elif field_type == 'float32':
00143 return self.rand.random()
00144 elif field_type == 'float64':
00145 return self.rand.random()
00146 elif field_type == 'string':
00147 return self.randstr(100)
00148 elif field_type == 'duration':
00149 return rospy.Duration.from_sec(self.rand.random())
00150 elif field_type == 'time':
00151 return rospy.Time.from_sec(self.rand.random()*1000)
00152 elif field_type.endswith(']'):
00153 base_type, is_array, array_len = roslib.msgs.parse_type(field_type)
00154
00155 if array_len is None:
00156 array_len = self.rand.randint(1,100)
00157
00158
00159 if field_type == 'bool':
00160 return [ self.rand.randint(0,1) for i in xrange(0,array_len) ]
00161 elif field_type == 'byte':
00162 return [ self.rand.randint(-2**7,2**7-1) for i in xrange(0,array_len) ]
00163 elif field_type == 'int8':
00164 return [ self.rand.randint(-2**7,2**7-1) for i in xrange(0,array_len) ]
00165 elif field_type == 'int16':
00166 return [ self.rand.randint(-2**15,2**15-1) for i in xrange(0,array_len) ]
00167 elif field_type == 'int32':
00168 return [ self.rand.randint(-2**31,2**31-1) for i in xrange(0,array_len) ]
00169 elif field_type == 'int64':
00170 return [ self.rand.randint(-2**63,2**63-1) for i in xrange(0,array_len) ]
00171 elif field_type == 'char':
00172 return [ self.rand.randint(0,2**8-1) for i in xrange(0,array_len) ]
00173 elif field_type == 'uint8':
00174 return [ self.rand.randint(0,2**8-1) for i in xrange(0,array_len) ]
00175 elif field_type == 'uint16':
00176 return [ self.rand.randint(0,2**16-1) for i in xrange(0,array_len) ]
00177 elif field_type == 'uint32':
00178 return [ self.rand.randint(0,2**32-1) for i in xrange(0,array_len) ]
00179 elif field_type == 'uint64':
00180 return [ self.rand.randint(0,2**64-1) for i in xrange(0,array_len) ]
00181 elif field_type == 'float32':
00182 return [ self.rand.random() for i in xrange(0,array_len) ]
00183 elif field_type == 'float64':
00184 return [ self.rand.random() for i in xrange(0,array_len) ]
00185 elif field_type == 'string':
00186 return [ self.randstr(100) for i in xrange(0,array_len) ]
00187 elif field_type == 'duration':
00188 return [ rospy.Duration.from_sec(self.rand.random()) for i in xrange(0,array_len) ]
00189 elif field_type == 'time':
00190 return [ rospy.Time.from_sec(self.rand.random()*1000) for i in xrange(0,array_len) ]
00191 else:
00192 return [ self.rand_value(base_type) for i in xrange(0,array_len) ]
00193
00194 else:
00195 msg_class = self.message_dict[field_type]
00196 msg_inst = msg_class()
00197 for s in msg_inst.__slots__:
00198 ind = msg_inst.__slots__.index(s)
00199 msg_inst.__setattr__(s,self.rand_value(msg_inst._slot_types[ind]))
00200 return msg_inst
