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Fix serialization of empty message sequences

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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
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6
src/rosbags/serde/cdr.py
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@ -133,7 +133,8 @@ def generate_getsize_cdr(fields: list[Field]) -> tuple[CDRSerSize, int]:
lines.append(f' val = message.{fieldname}') lines.append(f' val = message.{fieldname}')
if subdesc.args.size_cdr: if subdesc.args.size_cdr:
if aligned < anext_before <= anext_after: if aligned < anext_before <= anext_after:
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}') lines.append(' if len(val):')
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
lines.append(' for _ in val:') lines.append(' for _ in val:')
if anext_before > anext_after: if anext_before > anext_after:
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}') lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
@ -144,7 +145,8 @@ def generate_getsize_cdr(fields: list[Field]) -> tuple[CDRSerSize, int]:
f' func = get_msgdef("{subdesc.args.name}", typestore).getsize_cdr', f' func = get_msgdef("{subdesc.args.name}", typestore).getsize_cdr',
) )
if aligned < anext_before <= anext_after: if aligned < anext_before <= anext_after:
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}') lines.append(' if len(val):')
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
lines.append(' for item in val:') lines.append(' for item in val:')
if anext_before > anext_after: if anext_before > anext_after:
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}') lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')

23
tests/test_serde.py
View File

@ -180,6 +180,11 @@ uint64[] su64
uint64 u64 uint64 u64
""" """
SMSG_U64 = """
su64_u64[] seq
uint64 u64
"""
@pytest.fixture() @pytest.fixture()
def _comparable() -> Generator[None, None, None]: def _comparable() -> Generator[None, None, None]:
@ -457,16 +462,22 @@ def test_padding_empty_sequence() -> None:
def test_align_after_empty_sequence() -> None: def test_align_after_empty_sequence() -> None:
"""Test alignment after empty sequences.""" """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(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 su64_u64 = get_msgdef('test_msgs/msg/su64_u64', types).cls
msg = su64_b(numpy.array([], dtype=numpy.uint64), 42) 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 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 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