Add rosbag1 writer
This commit is contained in:
Marko Durkovic
committed by
Florian Friesdorf
Florian Friesdorf
parent
5bd1bcbd83
commit
cc96973be3
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# Copyright 2020-2021 Ternaris.
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# SPDX-License-Identifier: Apache-2.0
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"""Test full data roundtrip."""
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from __future__ import annotations
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from typing import TYPE_CHECKING
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import pytest
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from rosbags.rosbag1 import Reader, Writer
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from rosbags.serde import cdr_to_ros1, deserialize_cdr, ros1_to_cdr, serialize_cdr
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if TYPE_CHECKING:
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from pathlib import Path
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from typing import Optional
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@pytest.mark.parametrize('fmt', [None, Writer.CompressionFormat.BZ2, Writer.CompressionFormat.LZ4])
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def test_roundtrip(tmp_path: Path, fmt: Optional[Writer.CompressionFormat]):
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"""Test full data roundtrip."""
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class Foo: # pylint: disable=too-few-public-methods
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"""Dummy class."""
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data = 1.25
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path = tmp_path / 'test.bag'
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wbag = Writer(path)
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if fmt:
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wbag.set_compression(fmt)
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with wbag:
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msgtype = 'std_msgs/msg/Float64'
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conn = wbag.add_connection('/test', msgtype)
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wbag.write(conn, 42, cdr_to_ros1(serialize_cdr(Foo, msgtype), msgtype))
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rbag = Reader(path)
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with rbag:
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gen = rbag.messages()
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connection, _, raw = next(gen)
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msg = deserialize_cdr(ros1_to_cdr(raw, connection.msgtype), connection.msgtype)
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assert msg.data == Foo.data
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with pytest.raises(StopIteration):
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next(gen)
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@@ -0,0 +1,201 @@
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# Copyright 2020-2021 Ternaris.
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# SPDX-License-Identifier: Apache-2.0
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"""Writer tests."""
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from __future__ import annotations
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from typing import TYPE_CHECKING
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from unittest.mock import Mock
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import pytest
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from rosbags.rosbag1 import Writer, WriterError
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if TYPE_CHECKING:
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from pathlib import Path
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from typing import Optional
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def test_no_overwrite(tmp_path: Path):
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"""Test writer does not touch existing files."""
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path = tmp_path / 'test.bag'
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path.write_text('foo')
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with pytest.raises(WriterError, match='exists'):
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Writer(path).open()
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path.unlink()
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writer = Writer(path)
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path.write_text('foo')
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with pytest.raises(WriterError, match='exists'):
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writer.open()
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def test_empty(tmp_path: Path):
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"""Test empty bag."""
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path = tmp_path / 'test.bag'
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with Writer(path):
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pass
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data = path.read_bytes()
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assert len(data) == 13 + 4096
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def test_add_connection(tmp_path: Path):
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"""Test adding of connections."""
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path = tmp_path / 'test.bag'
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with pytest.raises(WriterError, match='not opened'):
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Writer(path).add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
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with Writer(path) as writer:
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res = writer.add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
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assert res.cid == 0
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data = path.read_bytes()
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assert data.count(b'MESSAGE_DEFINITION') == 2
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assert data.count(b'HASH') == 2
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path.unlink()
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with Writer(path) as writer:
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res = writer.add_connection('/foo', 'std_msgs/msg/Int8')
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assert res.cid == 0
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data = path.read_bytes()
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assert data.count(b'int8 data') == 2
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assert data.count(b'27ffa0c9c4b8fb8492252bcad9e5c57b') == 2
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path.unlink()
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with Writer(path) as writer:
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writer.add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
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with pytest.raises(WriterError, match='can only be added once'):
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writer.add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
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path.unlink()
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with Writer(path) as writer:
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res1 = writer.add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
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res2 = writer.add_connection(
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'/foo',
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'test_msgs/msg/Test',
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'MESSAGE_DEFINITION',
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'HASH',
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callerid='src',
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)
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res3 = writer.add_connection(
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'/foo',
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'test_msgs/msg/Test',
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'MESSAGE_DEFINITION',
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'HASH',
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latching=1,
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)
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assert (res1.cid, res2.cid, res3.cid) == (0, 1, 2)
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def test_write_errors(tmp_path: Path):
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"""Test write errors."""
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path = tmp_path / 'test.bag'
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with pytest.raises(WriterError, match='not opened'):
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Writer(path).write(Mock(), 42, b'DEADBEEF')
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with Writer(path) as writer, \
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pytest.raises(WriterError, match='is no connection'):
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writer.write(Mock(), 42, b'DEADBEEF')
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path.unlink()
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def test_write_simple(tmp_path: Path):
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"""Test writing of messages."""
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path = tmp_path / 'test.bag'
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with Writer(path) as writer:
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conn_foo = writer.add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
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conn_latching = writer.add_connection(
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'/foo',
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'test_msgs/msg/Test',
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'MESSAGE_DEFINITION',
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'HASH',
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latching=1,
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)
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conn_bar = writer.add_connection(
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'/bar',
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'test_msgs/msg/Bar',
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'OTHER_DEFINITION',
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'HASH',
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callerid='src',
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)
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writer.add_connection('/baz', 'test_msgs/msg/Baz', 'NEVER_WRITTEN', 'HASH')
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writer.write(conn_foo, 42, b'DEADBEEF')
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writer.write(conn_latching, 42, b'DEADBEEF')
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writer.write(conn_bar, 43, b'SECRET')
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writer.write(conn_bar, 43, b'SUBSEQUENT')
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res = path.read_bytes()
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assert res.count(b'op=\x05') == 1
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assert res.count(b'op=\x06') == 1
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assert res.count(b'MESSAGE_DEFINITION') == 4
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assert res.count(b'latching=1') == 2
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assert res.count(b'OTHER_DEFINITION') == 2
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assert res.count(b'callerid=src') == 2
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assert res.count(b'NEVER_WRITTEN') == 2
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assert res.count(b'DEADBEEF') == 2
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assert res.count(b'SECRET') == 1
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assert res.count(b'SUBSEQUENT') == 1
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path.unlink()
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with Writer(path) as writer:
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writer.chunk_threshold = 256
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conn_foo = writer.add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
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conn_latching = writer.add_connection(
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'/foo',
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'test_msgs/msg/Test',
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'MESSAGE_DEFINITION',
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'HASH',
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latching=1,
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)
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conn_bar = writer.add_connection(
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'/bar',
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'test_msgs/msg/Bar',
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'OTHER_DEFINITION',
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'HASH',
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callerid='src',
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)
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writer.add_connection('/baz', 'test_msgs/msg/Baz', 'NEVER_WRITTEN', 'HASH')
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writer.write(conn_foo, 42, b'DEADBEEF')
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writer.write(conn_latching, 42, b'DEADBEEF')
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writer.write(conn_bar, 43, b'SECRET')
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writer.write(conn_bar, 43, b'SUBSEQUENT')
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res = path.read_bytes()
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assert res.count(b'op=\x05') == 2
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assert res.count(b'op=\x06') == 2
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assert res.count(b'MESSAGE_DEFINITION') == 4
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assert res.count(b'latching=1') == 2
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assert res.count(b'OTHER_DEFINITION') == 2
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assert res.count(b'callerid=src') == 2
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assert res.count(b'NEVER_WRITTEN') == 2
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assert res.count(b'DEADBEEF') == 2
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assert res.count(b'SECRET') == 1
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assert res.count(b'SUBSEQUENT') == 1
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path.unlink()
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def test_compression_errors(tmp_path: Path):
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"""Test compression modes."""
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path = tmp_path / 'test.bag'
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with Writer(path) as writer, \
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pytest.raises(WriterError, match='already open'):
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writer.set_compression(writer.CompressionFormat.BZ2)
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@pytest.mark.parametrize('fmt', [None, Writer.CompressionFormat.BZ2, Writer.CompressionFormat.LZ4])
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def test_compression_modes(tmp_path: Path, fmt: Optional[Writer.CompressionFormat]):
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"""Test compression modes."""
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path = tmp_path / 'test.bag'
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writer = Writer(path)
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if fmt:
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writer.set_compression(fmt)
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with writer:
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conn = writer.add_connection('/foo', 'std_msgs/msg/Int8')
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writer.write(conn, 42, b'\x42')
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data = path.read_bytes()
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assert data.count(f'compression={fmt.name.lower() if fmt else "none"}'.encode()) == 1
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