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Implement direct ros1 (de)serialization

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This commit is contained in:
Marko Durkovic
2022-09-22 21:46:00 +02:00
parent 1309d42b64
commit 219a4d9846
9 changed files with 483 additions and 19 deletions
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tests/test_serde.py
+39 -9
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@@ -10,7 +10,15 @@ from unittest.mock import MagicMock, patch
import numpy
import pytest
from rosbags.serde import SerdeError, cdr_to_ros1, deserialize_cdr, ros1_to_cdr, serialize_cdr
from rosbags.serde import (
SerdeError,
cdr_to_ros1,
deserialize_cdr,
deserialize_ros1,
ros1_to_cdr,
serialize_cdr,
serialize_ros1,
)
from rosbags.serde.messages import get_msgdef
from rosbags.typesys import get_types_from_msg, register_types, types
from rosbags.typesys.types import builtin_interfaces__msg__Time as Time
@@ -206,6 +214,8 @@ def _comparable() -> Generator[None, None, None]:
def __init__(self, *args: Any, **kwargs: Any): # noqa: ANN401
super().__init__(*args, **kwargs)
self.dtype = kwargs['wraps'].dtype
self.reshape = kwargs['wraps'].reshape
self.__eq__ = arreq # type: ignore
def byteswap(self, *args: Any) -> CNDArray: # noqa: ANN401
@@ -230,6 +240,11 @@ def test_serde(message: tuple[bytes, str, bool]) -> None:
assert len(rawdata) - len(serdeser) < 4
assert all(x == 0 for x in rawdata[len(serdeser):])
if rawdata[1] == 1:
rawdata = cdr_to_ros1(rawdata, typ)
serdeser = serialize_ros1(deserialize_ros1(rawdata, typ), typ)
assert serdeser == rawdata
@pytest.mark.usefixtures('_comparable')
def test_deserializer() -> None:
@@ -244,6 +259,8 @@ def test_deserializer() -> None:
assert msg.points[1].x == 1.25
assert msg.points[1].y == 2.25
assert msg.points[1].z == 3.25
msg_ros1 = deserialize_ros1(cdr_to_ros1(*MSG_POLY[:2]), MSG_POLY[1])
assert msg_ros1 == msg
msg = deserialize_cdr(*MSG_MAGN[:2])
assert msg == deserialize(*MSG_MAGN[:2])
@@ -256,6 +273,8 @@ def test_deserializer() -> None:
assert (field.x, field.y, field.z) == (128., 128., 128.)
diag = numpy.diag(msg.magnetic_field_covariance.reshape(3, 3))
assert (diag == [1., 1., 1.]).all()
msg_ros1 = deserialize_ros1(cdr_to_ros1(*MSG_MAGN[:2]), MSG_MAGN[1])
assert msg_ros1 == msg
msg_big = deserialize_cdr(*MSG_MAGN_BIG[:2])
assert msg_big == deserialize(*MSG_MAGN_BIG[:2])
@@ -384,10 +403,14 @@ def test_custom_type() -> None:
assert res == deserialize(serialize(msg, cname), cname)
assert res == msg
res = deserialize_ros1(serialize_ros1(msg, cname), cname)
assert res == msg
def test_ros1_to_cdr() -> None:
"""Test ROS1 to CDR conversion."""
register_types(dict(get_types_from_msg(STATIC_16_64, 'test_msgs/msg/static_16_64')))
msgtype = 'test_msgs/msg/static_16_64'
register_types(dict(get_types_from_msg(STATIC_16_64, msgtype)))
msg_ros = (b'\x01\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x02')
msg_cdr = (
@@ -396,9 +419,11 @@ def test_ros1_to_cdr() -> None:
b'\x00\x00\x00\x00\x00\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x02'
)
assert ros1_to_cdr(msg_ros, 'test_msgs/msg/static_16_64') == msg_cdr
assert ros1_to_cdr(msg_ros, msgtype) == msg_cdr
assert serialize_cdr(deserialize_ros1(msg_ros, msgtype), msgtype) == msg_cdr
register_types(dict(get_types_from_msg(DYNAMIC_S_64, 'test_msgs/msg/dynamic_s_64')))
msgtype = 'test_msgs/msg/dynamic_s_64'
register_types(dict(get_types_from_msg(DYNAMIC_S_64, msgtype)))
msg_ros = (b'\x01\x00\x00\x00X'
b'\x00\x00\x00\x00\x00\x00\x00\x02')
msg_cdr = (
@@ -407,12 +432,14 @@ def test_ros1_to_cdr() -> None:
b'\x00\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x02'
)
assert ros1_to_cdr(msg_ros, 'test_msgs/msg/dynamic_s_64') == msg_cdr
assert ros1_to_cdr(msg_ros, msgtype) == msg_cdr
assert serialize_cdr(deserialize_ros1(msg_ros, msgtype), msgtype) == msg_cdr
def test_cdr_to_ros1() -> None:
"""Test CDR to ROS1 conversion."""
register_types(dict(get_types_from_msg(STATIC_16_64, 'test_msgs/msg/static_16_64')))
msgtype = 'test_msgs/msg/static_16_64'
register_types(dict(get_types_from_msg(STATIC_16_64, msgtype)))
msg_ros = (b'\x01\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x02')
msg_cdr = (
@@ -421,9 +448,11 @@ def test_cdr_to_ros1() -> None:
b'\x00\x00\x00\x00\x00\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x02'
)
assert cdr_to_ros1(msg_cdr, 'test_msgs/msg/static_16_64') == msg_ros
assert cdr_to_ros1(msg_cdr, msgtype) == msg_ros
assert serialize_ros1(deserialize_cdr(msg_cdr, msgtype), msgtype) == msg_ros
register_types(dict(get_types_from_msg(DYNAMIC_S_64, 'test_msgs/msg/dynamic_s_64')))
msgtype = 'test_msgs/msg/dynamic_s_64'
register_types(dict(get_types_from_msg(DYNAMIC_S_64, msgtype)))
msg_ros = (b'\x01\x00\x00\x00X'
b'\x00\x00\x00\x00\x00\x00\x00\x02')
msg_cdr = (
@@ -432,7 +461,8 @@ def test_cdr_to_ros1() -> None:
b'\x00\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x02'
)
assert cdr_to_ros1(msg_cdr, 'test_msgs/msg/dynamic_s_64') == msg_ros
assert cdr_to_ros1(msg_cdr, msgtype) == msg_ros
assert serialize_ros1(deserialize_cdr(msg_cdr, msgtype), msgtype) == msg_ros
header = Header(stamp=Time(42, 666), frame_id='frame')
msg_ros = cdr_to_ros1(serialize_cdr(header, 'std_msgs/msg/Header'), 'std_msgs/msg/Header')