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Unify rosbag1 and rosbag2 connection class

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This commit is contained in:
Marko Durkovic
2022-04-13 09:40:22 +02:00
parent dee7e9c2fc
commit 16d1758327
13 changed files with 301 additions and 150 deletions
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tests/test_convert.py
+132 -53
View File
@@ -2,18 +2,25 @@
# SPDX-License-Identifier: Apache-2.0
"""Rosbag1to2 converter tests."""
from __future__ import annotations
import sys
from pathlib import Path
from unittest.mock import Mock, call, patch
from typing import TYPE_CHECKING
from unittest.mock import call, patch
import pytest
from rosbags.convert import ConverterError, convert
from rosbags.convert.__main__ import main
from rosbags.convert.converter import LATCH
from rosbags.interfaces import Connection, ConnectionExtRosbag1, ConnectionExtRosbag2
from rosbags.rosbag1 import ReaderError
from rosbags.rosbag2 import WriterError
if TYPE_CHECKING:
from typing import Any
def test_cliwrapper(tmp_path: Path) -> None:
"""Test cli wrapper."""
@@ -114,71 +121,83 @@ def test_convert_1to2(tmp_path: Path) -> None:
patch('rosbags.convert.converter.register_types') as register_types, \
patch('rosbags.convert.converter.ros1_to_cdr') as ros1_to_cdr:
readerinst = reader.return_value.__enter__.return_value
writerinst = writer.return_value.__enter__.return_value
connections = [
Mock(topic='/topic', msgtype='typ', latching=False),
Mock(topic='/topic', msgtype='typ', latching=True),
Connection(1, '/topic', 'typ', 'def', '', -1, ConnectionExtRosbag1(None, False)),
Connection(2, '/topic', 'typ', 'def', '', -1, ConnectionExtRosbag1(None, True)),
Connection(3, '/other', 'typ', 'def', '', -1, ConnectionExtRosbag1(None, False)),
Connection(4, '/other', 'typ', 'def', '', -1, ConnectionExtRosbag1('caller', False)),
]
wconnections = [
Mock(topic='/topic', msgtype='typ'),
Mock(topic='/topic', msgtype='typ'),
Connection(1, '/topic', 'typ', '', '', -1, ConnectionExtRosbag2('cdr', '')),
Connection(2, '/topic', 'typ', '', '', -1, ConnectionExtRosbag2('cdr', LATCH)),
Connection(3, '/other', 'typ', '', '', -1, ConnectionExtRosbag2('cdr', '')),
]
reader.return_value.__enter__.return_value.connections = {
readerinst.connections = {
1: connections[0],
2: connections[1],
3: connections[2],
4: connections[3],
}
reader.return_value.__enter__.return_value.messages.return_value = [
readerinst.messages.return_value = [
(connections[0], 42, b'\x42'),
(connections[1], 43, b'\x43'),
(connections[2], 44, b'\x44'),
(connections[3], 45, b'\x45'),
]
writer.return_value.__enter__.return_value.add_connection.side_effect = [
wconnections[0],
wconnections[1],
]
writerinst.connections = {}
def add_connection(*_: Any) -> Connection: # noqa: ANN401
"""Mock for Writer.add_connection."""
writerinst.connections = {
conn.id: conn
for _, conn in zip(range(len(writerinst.connections) + 1), wconnections)
}
return wconnections[len(writerinst.connections) - 1]
writerinst.add_connection.side_effect = add_connection
ros1_to_cdr.return_value = b'666'
convert(Path('foo.bag'), None)
reader.assert_called_with(Path('foo.bag'))
reader.return_value.__enter__.return_value.messages.assert_called_with()
readerinst.messages.assert_called_with()
writer.assert_called_with(Path('foo'))
writer.return_value.__enter__.return_value.add_connection.assert_has_calls(
writerinst.add_connection.assert_has_calls(
[
call(
id=-1,
count=0,
topic='/topic',
msgtype='typ',
serialization_format='cdr',
offered_qos_profiles='',
),
call(
id=-1,
count=0,
topic='/topic',
msgtype='typ',
serialization_format='cdr',
offered_qos_profiles=LATCH,
),
call('/topic', 'typ', 'cdr', ''),
call('/topic', 'typ', 'cdr', LATCH),
call('/other', 'typ', 'cdr', ''),
],
)
writer.return_value.__enter__.return_value.write.assert_has_calls(
[call(wconnections[0], 42, b'666'),
call(wconnections[1], 43, b'666')],
writerinst.write.assert_has_calls(
[
call(wconnections[0], 42, b'666'),
call(wconnections[1], 43, b'666'),
call(wconnections[2], 44, b'666'),
call(wconnections[2], 45, b'666'),
],
)
register_types.assert_called_with({'typ': 'def'})
ros1_to_cdr.assert_has_calls([call(b'\x42', 'typ'), call(b'\x43', 'typ')])
ros1_to_cdr.assert_has_calls(
[
call(b'\x42', 'typ'),
call(b'\x43', 'typ'),
call(b'\x44', 'typ'),
call(b'\x45', 'typ'),
],
)
writer.return_value.__enter__.return_value.add_connection.side_effect = [
wconnections[0],
wconnections[1],
]
writerinst.connections.clear()
ros1_to_cdr.side_effect = KeyError('exc')
with pytest.raises(ConverterError, match='Converting rosbag: .*exc'):
convert(Path('foo.bag'), None)
@@ -204,30 +223,79 @@ def test_convert_2to1(tmp_path: Path) -> None:
patch('rosbags.convert.converter.Writer1') as writer, \
patch('rosbags.convert.converter.cdr_to_ros1') as cdr_to_ros1:
readerinst = reader.return_value.__enter__.return_value
writerinst = writer.return_value.__enter__.return_value
connections = [
Mock(topic='/topic', msgtype='std_msgs/msg/Bool', offered_qos_profiles=''),
Mock(topic='/topic', msgtype='std_msgs/msg/Bool', offered_qos_profiles=LATCH),
Connection(1, '/topic', 'std_msgs/msg/Bool', '', '', -1, ConnectionExtRosbag2('', '')),
Connection(
2,
'/topic',
'std_msgs/msg/Bool',
'',
'',
-1,
ConnectionExtRosbag2('', LATCH),
),
Connection(3, '/other', 'std_msgs/msg/Bool', '', '', -1, ConnectionExtRosbag2('', '')),
Connection(4, '/other', 'std_msgs/msg/Bool', '', '', -1, ConnectionExtRosbag2('', '0')),
]
wconnections = [
Mock(topic='/topic', msgtype='typ'),
Mock(topic='/topic', msgtype='typ'),
Connection(
1,
'/topic',
'std_msgs/msg/Bool',
'',
'8b94c1b53db61fb6aed406028ad6332a',
-1,
ConnectionExtRosbag1(None, False),
),
Connection(
2,
'/topic',
'std_msgs/msg/Bool',
'',
'8b94c1b53db61fb6aed406028ad6332a',
-1,
ConnectionExtRosbag1(None, True),
),
Connection(
3,
'/other',
'std_msgs/msg/Bool',
'',
'8b94c1b53db61fb6aed406028ad6332a',
-1,
ConnectionExtRosbag1(None, False),
),
]
reader.return_value.__enter__.return_value.connections = {
readerinst.connections = {
1: connections[0],
2: connections[1],
3: connections[2],
4: connections[3],
}
reader.return_value.__enter__.return_value.messages.return_value = [
readerinst.messages.return_value = [
(connections[0], 42, b'\x42'),
(connections[1], 43, b'\x43'),
(connections[2], 44, b'\x44'),
(connections[3], 45, b'\x45'),
]
writer.return_value.__enter__.return_value.add_connection.side_effect = [
wconnections[0],
wconnections[1],
]
writerinst.connections = {}
def add_connection(*_: Any) -> Connection: # noqa: ANN401
"""Mock for Writer.add_connection."""
writerinst.connections = {
conn.id: conn
for _, conn in zip(range(len(writerinst.connections) + 1), wconnections)
}
return wconnections[len(writerinst.connections) - 1]
writerinst.add_connection.side_effect = add_connection
cdr_to_ros1.return_value = b'666'
@@ -255,24 +323,35 @@ def test_convert_2to1(tmp_path: Path) -> None:
None,
1,
),
call(
'/other',
'std_msgs/msg/Bool',
'bool data\n',
'8b94c1b53db61fb6aed406028ad6332a',
None,
0,
),
],
)
writer.return_value.__enter__.return_value.write.assert_has_calls(
[call(wconnections[0], 42, b'666'),
call(wconnections[1], 43, b'666')],
[
call(wconnections[0], 42, b'666'),
call(wconnections[1], 43, b'666'),
call(wconnections[2], 44, b'666'),
call(wconnections[2], 45, b'666'),
],
)
cdr_to_ros1.assert_has_calls(
[
call(b'\x42', 'std_msgs/msg/Bool'),
call(b'\x43', 'std_msgs/msg/Bool'),
call(b'\x44', 'std_msgs/msg/Bool'),
call(b'\x45', 'std_msgs/msg/Bool'),
],
)
writer.return_value.__enter__.return_value.add_connection.side_effect = [
wconnections[0],
wconnections[1],
]
writerinst.connections.clear()
cdr_to_ros1.side_effect = KeyError('exc')
with pytest.raises(ConverterError, match='Converting rosbag: .*exc'):
convert(Path('foo'), None)
tests/test_roundtrip.py
+3 -1
View File
@@ -36,7 +36,9 @@ def test_roundtrip(mode: Writer.CompressionMode, tmp_path: Path) -> None:
with rbag:
gen = rbag.messages()
rconnection, _, raw = next(gen)
assert rconnection == wconnection
assert rconnection.topic == wconnection.topic
assert rconnection.msgtype == wconnection.msgtype
assert rconnection.ext == wconnection.ext
msg = deserialize_cdr(raw, rconnection.msgtype)
assert getattr(msg, 'data', None) == Foo.data
with pytest.raises(StopIteration):
tests/test_writer.py
+7 -3
View File
@@ -8,8 +8,8 @@ from typing import TYPE_CHECKING
import pytest
from rosbags.interfaces import Connection, ConnectionExtRosbag2
from rosbags.rosbag2 import Writer, WriterError
from rosbags.rosbag2.connection import Connection
if TYPE_CHECKING:
from pathlib import Path
@@ -81,7 +81,11 @@ def test_failure_cases(tmp_path: Path) -> None:
bag = Writer(tmp_path / 'write')
with pytest.raises(WriterError, match='was not opened'):
bag.write(Connection(1, 0, '/tf', 'tf_msgs/msg/tf2', 'cdr', ''), 0, b'')
bag.write(
Connection(1, '/tf', 'tf_msgs/msg/tf2', '', '', 0, ConnectionExtRosbag2('cdr', '')),
0,
b'',
)
bag = Writer(tmp_path / 'topic')
bag.open()
@@ -91,6 +95,6 @@ def test_failure_cases(tmp_path: Path) -> None:
bag = Writer(tmp_path / 'notopic')
bag.open()
connection = Connection(1, 0, '/tf', 'tf_msgs/msg/tf2', 'cdr', '')
connection = Connection(1, '/tf', 'tf_msgs/msg/tf2', '', '', 0, ConnectionExtRosbag2('cdr', ''))
with pytest.raises(WriterError, match='unknown connection'):
bag.write(connection, 42, b'\x00')