Add type system

tests/__init__.py

@@ -0,0 +1,3 @@
+# Copyright 2020-2021  Ternaris.
+# SPDX-License-Identifier: Apache-2.0
+"""Rosbag tests."""

tests/test_parse.py

@@ -0,0 +1,156 @@
+# Copyright 2020-2021  Ternaris.
+# SPDX-License-Identifier: Apache-2.0
+"""Message definition parser tests."""
+
+import pytest
+
+from rosbags.typesys import TypesysError, get_types_from_idl, get_types_from_msg, register_types
+from rosbags.typesys.base import Nodetype
+from rosbags.typesys.types import FIELDDEFS
+
+MSG = """
+# comment
+
+int32 global=42
+
+std_msgs/Header header
+std_msgs/msg/Bool bool
+test_msgs/Bar sibling
+float64 base
+float64[] seq1
+float64[] seq2
+float64[4] array
+"""
+
+MULTI_MSG = """
+std_msgs/Header header
+byte b
+char c
+Other[] o
+
+================================================================================
+MSG: std_msgs/Header
+time time
+
+================================================================================
+MSG: test_msgs/Other
+uint64[3] Header
+"""
+
+IDL_LANG = """
+// assign different literals and expressions
+
+#ifndef FOO
+#define FOO
+
+#include <global>
+#include "local"
+
+const bool g_bool = TRUE;
+const int8 g_int1 = 7;
+const int8 g_int2 = 07;
+const int8 g_int3 = 0x7;
+const float64 g_float1 = 1.1;
+const float64 g_float2 = 1e10;
+const char g_char = 'c';
+const string g_string1 = "";
+const string<128> g_string2 = "str" "ing";
+
+module Foo {
+    const int64 g_expr1 = ~1;
+    const int64 g_expr2 = 2 * 4;
+};
+
+#endif
+"""
+
+IDL = """
+// comment in file
+module test_msgs {
+  // comment in module
+  typedef std_msgs::msg::Bool Bool;
+
+  module msg {
+    // comment in submodule
+    typedef Bool Balias;
+    typedef test_msgs::msg::Bar Bar;
+    typedef double d4[4];
+
+    @comment(type="text", text="ignore")
+    struct Foo {
+        std_msgs::msg::Header header;
+        Balias bool;
+        Bar sibling;
+        double x;
+        sequence<double> seq1;
+        sequence<double, 4> seq2;
+        d4 array;
+    };
+  };
+};
+"""
+
+
+def test_parse_msg():
+    """Test msg parser."""
+    with pytest.raises(TypesysError, match='Could not parse'):
+        get_types_from_msg('', 'test_msgs/msg/Foo')
+    ret = get_types_from_msg(MSG, 'test_msgs/msg/Foo')
+    assert 'test_msgs/msg/Foo' in ret
+    fields = ret['test_msgs/msg/Foo']
+    assert fields[0][0][1] == 'std_msgs/msg/Header'
+    assert fields[0][1][1] == 'header'
+    assert fields[1][0][1] == 'std_msgs/msg/Bool'
+    assert fields[1][1][1] == 'bool'
+    assert fields[2][0][1] == 'test_msgs/msg/Bar'
+    assert fields[2][1][1] == 'sibling'
+    assert fields[3][0][0] == Nodetype.BASE
+    assert fields[4][0][0] == Nodetype.SEQUENCE
+    assert fields[5][0][0] == Nodetype.SEQUENCE
+    assert fields[6][0][0] == Nodetype.ARRAY
+
+
+def test_parse_multi_msg():
+    """Test multi msg parser."""
+    ret = get_types_from_msg(MULTI_MSG, 'test_msgs/msg/Foo')
+    assert len(ret) == 3
+    assert 'test_msgs/msg/Foo' in ret
+    assert 'std_msgs/msg/Header' in ret
+    assert 'test_msgs/msg/Other' in ret
+    assert ret['test_msgs/msg/Foo'][0][0][1] == 'std_msgs/msg/Header'
+    assert ret['test_msgs/msg/Foo'][1][0][1] == 'uint8'
+    assert ret['test_msgs/msg/Foo'][2][0][1] == 'uint8'
+
+
+def test_parse_idl():
+    """Test idl parser."""
+    ret = get_types_from_idl(IDL_LANG)
+    assert ret == {}
+
+    ret = get_types_from_idl(IDL)
+    assert 'test_msgs/msg/Foo' in ret
+    fields = ret['test_msgs/msg/Foo']
+    assert fields[0][0][1] == 'std_msgs/msg/Header'
+    assert fields[0][1][1] == 'header'
+    assert fields[1][0][1] == 'std_msgs/msg/Bool'
+    assert fields[1][1][1] == 'bool'
+    assert fields[2][0][1] == 'test_msgs/msg/Bar'
+    assert fields[2][1][1] == 'sibling'
+    assert fields[3][0][0] == Nodetype.BASE
+    assert fields[4][0][0] == Nodetype.SEQUENCE
+    assert fields[5][0][0] == Nodetype.SEQUENCE
+    assert fields[6][0][0] == Nodetype.ARRAY
+
+
+def test_register_types():
+    """Test type registeration."""
+    assert 'foo' not in FIELDDEFS
+    register_types({})
+    register_types({'foo': [[(1, 'bool'), (2, 'b')]]})
+    assert 'foo' in FIELDDEFS
+
+    register_types({'std_msgs/msg/Header': []})
+    assert len(FIELDDEFS['std_msgs/msg/Header']) == 2
+
+    with pytest.raises(TypesysError, match='different definition'):
+        register_types({'foo': [[(1, 'bool'), (2, 'x')]]})