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Add topic filters to rosbag conversion

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This commit is contained in:
Marko Durkovic
2022-07-27 15:39:47 +02:00
parent 05df51aa96
commit b9fd0b014b
3 changed files with 54 additions and 17 deletions
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tests/test_convert.py
+22 -6
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@@ -42,7 +42,7 @@ def test_cliwrapper(tmp_path: Path) -> None:
with patch('rosbags.convert.__main__.convert') as cvrt, \
patch.object(sys, 'argv', ['cvt', str(tmp_path / 'ros1.bag')]):
main()
cvrt.assert_called_with(tmp_path / 'ros1.bag', None)
cvrt.assert_called_with(src=tmp_path / 'ros1.bag', dst=None, exclude_topics=[])
with patch('rosbags.convert.__main__.convert') as cvrt, \
patch.object(sys, 'argv', ['cvt',
@@ -68,7 +68,7 @@ def test_cliwrapper(tmp_path: Path) -> None:
'--dst',
str(tmp_path / 'target')]):
main()
cvrt.assert_called_with(tmp_path / 'ros1.bag', tmp_path / 'target')
cvrt.assert_called_with(src=tmp_path / 'ros1.bag', dst=tmp_path / 'target', exclude_topics=[])
with patch.object(sys, 'argv', ['cvt', str(tmp_path / 'ros1.bag')]), \
patch('builtins.print') as mock_print, \
@@ -80,7 +80,7 @@ def test_cliwrapper(tmp_path: Path) -> None:
with patch('rosbags.convert.__main__.convert') as cvrt, \
patch.object(sys, 'argv', ['cvt', str(tmp_path / 'subdir')]):
main()
cvrt.assert_called_with(tmp_path / 'subdir', None)
cvrt.assert_called_with(src=tmp_path / 'subdir', dst=None, exclude_topics=[])
with patch('rosbags.convert.__main__.convert') as cvrt, \
patch.object(sys, 'argv', ['cvt',
@@ -97,7 +97,7 @@ def test_cliwrapper(tmp_path: Path) -> None:
'--dst',
str(tmp_path / 'target.bag')]):
main()
cvrt.assert_called_with(tmp_path / 'subdir', tmp_path / 'target.bag')
cvrt.assert_called_with(src=tmp_path / 'subdir', dst=tmp_path / 'target.bag', exclude_topics=[])
with patch.object(sys, 'argv', ['cvt', str(tmp_path / 'subdir')]), \
patch('builtins.print') as mock_print, \
@@ -106,6 +106,14 @@ def test_cliwrapper(tmp_path: Path) -> None:
main()
mock_print.assert_called_with('ERROR: exc')
with patch('rosbags.convert.__main__.convert') as cvrt, \
patch.object(sys, 'argv', ['cvt',
str(tmp_path / 'ros1.bag'),
'--exclude-topic',
'/foo']):
main()
cvrt.assert_called_with(src=tmp_path / 'ros1.bag', dst=None, exclude_topics=['/foo'])
def test_convert_1to2(tmp_path: Path) -> None:
"""Test conversion from rosbag1 to rosbag2."""
@@ -176,7 +184,7 @@ def test_convert_1to2(tmp_path: Path) -> None:
convert(Path('foo.bag'), None)
reader.assert_called_with(Path('foo.bag'))
readerinst.messages.assert_called_with()
readerinst.messages.assert_called_with(connections=readerinst.connections)
writer.assert_called_with(Path('foo'))
writerinst.add_connection.assert_has_calls(
@@ -205,6 +213,9 @@ def test_convert_1to2(tmp_path: Path) -> None:
],
)
with pytest.raises(ConverterError, match='No connections left for conversion'):
convert(Path('foo.bag'), None, ['/topic', '/other'])
writerinst.connections.clear()
ros1_to_cdr.side_effect = KeyError('exc')
with pytest.raises(ConverterError, match='Converting rosbag: .*exc'):
@@ -340,7 +351,9 @@ def test_convert_2to1(tmp_path: Path) -> None:
convert(Path('foo'), None)
reader.assert_called_with(Path('foo'))
reader.return_value.__enter__.return_value.messages.assert_called_with()
reader.return_value.__enter__.return_value.messages.assert_called_with(
connections=readerinst.connections,
)
writer.assert_called_with(Path('foo.bag'))
writer.return_value.__enter__.return_value.add_connection.assert_has_calls(
@@ -389,6 +402,9 @@ def test_convert_2to1(tmp_path: Path) -> None:
],
)
with pytest.raises(ConverterError, match='No connections left for conversion'):
convert(Path('foobag'), None, ['/topic', '/other'])
writerinst.connections.clear()
cdr_to_ros1.side_effect = KeyError('exc')
with pytest.raises(ConverterError, match='Converting rosbag: .*exc'):