apoorva/greenhouse
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fix serialization of empty message sequences

Browse Source
This commit is contained in:
Marko Durkovic
2022-05-04 17:40:50 +02:00
parent c2e676a01f
commit 9f3da0c2be
2 changed files with 21 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tests/test_serde.py
+17 -6
View File
@@ -180,6 +180,11 @@ uint64[] su64
uint64 u64
"""
SMSG_U64 = """
su64_u64[] seq
uint64 u64
"""
@pytest.fixture()
def _comparable() -> Generator[None, None, None]:
@@ -457,16 +462,22 @@ def test_padding_empty_sequence() -> None:
def test_align_after_empty_sequence() -> None:
"""Test alignment after empty sequences."""
register_types(dict(get_types_from_msg(SU64_U64, 'test_msgs/msg/su64_u64')))
register_types(dict(get_types_from_msg(SMSG_U64, 'test_msgs/msg/smsg_u64')))
su64_b = get_msgdef('test_msgs/msg/su64_u64', types).cls
msg = su64_b(numpy.array([], dtype=numpy.uint64), 42)
su64_u64 = get_msgdef('test_msgs/msg/su64_u64', types).cls
smsg_u64 = get_msgdef('test_msgs/msg/smsg_u64', types).cls
msg1 = su64_u64(numpy.array([], dtype=numpy.uint64), 42)
msg2 = smsg_u64([], 42)
cdr = serialize_cdr(msg, msg.__msgtype__)
cdr = serialize_cdr(msg1, msg1.__msgtype__)
assert cdr[4:] == b'\x00\x00\x00\x00\x00\x00\x00\x00\x2a\x00\x00\x00\x00\x00\x00\x00'
assert serialize_cdr(msg2, msg2.__msgtype__) == cdr
ros1 = cdr_to_ros1(cdr, msg.__msgtype__)
ros1 = cdr_to_ros1(cdr, msg1.__msgtype__)
assert ros1 == b'\x00\x00\x00\x00\x2a\x00\x00\x00\x00\x00\x00\x00'
assert cdr_to_ros1(cdr, msg2.__msgtype__) == ros1
assert ros1_to_cdr(ros1, msg.__msgtype__) == cdr
assert ros1_to_cdr(ros1, msg1.__msgtype__) == cdr
assert deserialize_cdr(cdr, msg.__msgtype__) == msg
assert deserialize_cdr(cdr, msg1.__msgtype__) == msg1
assert deserialize_cdr(cdr, msg2.__msgtype__) == msg2