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Change to connection oriented reader API

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This commit is contained in:
Marko Durkovic
2021-08-01 18:22:36 +02:00
committed by Florian Friesdorf
parent ebf357a0c6
commit f33e65b14a
13 changed files with 290 additions and 172 deletions
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tests/test_convert.py
+39 -12
View File
@@ -76,17 +76,29 @@ def test_convert(tmp_path: Path):
patch('rosbags.convert.converter.register_types') as register_types, \
patch('rosbags.convert.converter.ros1_to_cdr') as ros1_to_cdr:
connections = [
Mock(topic='/topic', msgtype='typ', latching=False),
Mock(topic='/topic', msgtype='typ', latching=True),
]
wconnections = [
Mock(topic='/topic', msgtype='typ'),
Mock(topic='/topic', msgtype='typ'),
]
reader.return_value.__enter__.return_value.connections = {
0: Mock(topic='/topic', latching=False),
1: Mock(topic='/latched', latching=True),
}
reader.return_value.__enter__.return_value.topics = {
'/topic': Mock(msgtype='typ', msgdef='def'),
'/latched': Mock(msgtype='typ', msgdef='def'),
1: connections[0],
2: connections[1],
}
reader.return_value.__enter__.return_value.messages.return_value = [
('/topic', 'typ', 42, b'\x42'),
('/latched', 'typ', 43, b'\x43'),
(connections[0], 42, b'\x42'),
(connections[1], 43, b'\x43'),
]
writer.return_value.__enter__.return_value.add_connection.side_effect = [
wconnections[0],
wconnections[1],
]
ros1_to_cdr.return_value = b'666'
@@ -97,14 +109,29 @@ def test_convert(tmp_path: Path):
reader.return_value.__enter__.return_value.messages.assert_called_with()
writer.assert_called_with(Path('foo'))
writer.return_value.__enter__.return_value.add_topic.assert_has_calls(
writer.return_value.__enter__.return_value.add_connection.assert_has_calls(
[
call('/topic', 'typ', offered_qos_profiles=''),
call('/latched', 'typ', offered_qos_profiles=LATCH),
call(
id=-1,
count=0,
topic='/topic',
msgtype='typ',
serialization_format='cdr',
offered_qos_profiles='',
),
call(
id=-1,
count=0,
topic='/topic',
msgtype='typ',
serialization_format='cdr',
offered_qos_profiles=LATCH,
),
],
)
writer.return_value.__enter__.return_value.write.assert_has_calls(
[call('/topic', 42, b'666'), call('/latched', 43, b'666')],
[call(wconnections[0], 42, b'666'),
call(wconnections[1], 43, b'666')],
)
register_types.assert_called_with({'typ': 'def'})
tests/test_reader.py
+26 -25
View File
@@ -126,25 +126,26 @@ def test_reader(bag: Path):
assert reader.message_count == 4
if reader.compression_mode:
assert reader.compression_format == 'zstd'
assert [*reader.connections.keys()] == [1, 2, 3]
assert [*reader.topics.keys()] == ['/poly', '/magn', '/joint']
gen = reader.messages()
topic, msgtype, timestamp, rawdata = next(gen)
assert topic == '/poly'
assert msgtype == 'geometry_msgs/msg/Polygon'
connection, timestamp, rawdata = next(gen)
assert connection.topic == '/poly'
assert connection.msgtype == 'geometry_msgs/msg/Polygon'
assert timestamp == 666
assert rawdata == MSG_POLY[0]
for idx in range(2):
topic, msgtype, timestamp, rawdata = next(gen)
assert topic == '/magn'
assert msgtype == 'sensor_msgs/msg/MagneticField'
connection, timestamp, rawdata = next(gen)
assert connection.topic == '/magn'
assert connection.msgtype == 'sensor_msgs/msg/MagneticField'
assert timestamp == 708
assert rawdata == [MSG_MAGN, MSG_MAGN_BIG][idx][0]
topic, msgtype, timestamp, rawdata = next(gen)
assert topic == '/joint'
assert msgtype == 'trajectory_msgs/msg/JointTrajectory'
connection, timestamp, rawdata = next(gen)
assert connection.topic == '/joint'
assert connection.msgtype == 'trajectory_msgs/msg/JointTrajectory'
with pytest.raises(StopIteration):
next(gen)
@@ -153,32 +154,32 @@ def test_reader(bag: Path):
def test_message_filters(bag: Path):
"""Test reader filters messages."""
with Reader(bag) as reader:
gen = reader.messages(['/magn'])
topic, _, _, _ = next(gen)
assert topic == '/magn'
topic, _, _, _ = next(gen)
assert topic == '/magn'
magn_connections = [x for x in reader.connections.values() if x.topic == '/magn']
gen = reader.messages(connections=magn_connections)
connection, _, _ = next(gen)
assert connection.topic == '/magn'
connection, _, _ = next(gen)
assert connection.topic == '/magn'
with pytest.raises(StopIteration):
next(gen)
gen = reader.messages(start=667)
topic, _, _, _ = next(gen)
assert topic == '/magn'
topic, _, _, _ = next(gen)
assert topic == '/magn'
topic, _, _, _ = next(gen)
assert topic == '/joint'
connection, _, _ = next(gen)
assert connection.topic == '/magn'
connection, _, _ = next(gen)
assert connection.topic == '/magn'
connection, _, _ = next(gen)
assert connection.topic == '/joint'
with pytest.raises(StopIteration):
next(gen)
gen = reader.messages(stop=667)
topic, _, _, _ = next(gen)
assert topic == '/poly'
connection, _, _ = next(gen)
assert connection.topic == '/poly'
with pytest.raises(StopIteration):
next(gen)
gen = reader.messages(['/magn'], stop=667)
gen = reader.messages(connections=magn_connections, stop=667)
with pytest.raises(StopIteration):
next(gen)
tests/test_reader1.py
+10 -8
View File
@@ -141,7 +141,7 @@ def write_bag(bag, header, chunks=None): # pylint: disable=too-many-locals,too-
header['index_pos'] = pack('<Q', pos)
header = ser(header)
header += b'\x00' * (4096 - len(header))
header += b'\x20' * (4096 - len(header))
bag.write_bytes(b''.join([
magic,
@@ -227,8 +227,10 @@ def test_reader(tmp_path): # pylint: disable=too-many-statements
assert reader.topics['/topic0'].msgcount == 2
msgs = list(reader.messages())
assert len(msgs) == 2
assert msgs[0][3] == b'MSGCONTENT5'
assert msgs[1][3] == b'MSGCONTENT10'
assert msgs[0][0].topic == '/topic0'
assert msgs[0][2] == b'MSGCONTENT5'
assert msgs[1][0].topic == '/topic0'
assert msgs[1][2] == b'MSGCONTENT10'
# sorts by time on different topic
write_bag(
@@ -249,20 +251,20 @@ def test_reader(tmp_path): # pylint: disable=too-many-statements
assert reader.topics['/topic2'].msgcount == 1
msgs = list(reader.messages())
assert len(msgs) == 2
assert msgs[0][3] == b'MSGCONTENT5'
assert msgs[1][3] == b'MSGCONTENT10'
assert msgs[0][2] == b'MSGCONTENT5'
assert msgs[1][2] == b'MSGCONTENT10'
msgs = list(reader.messages(['/topic0']))
assert len(msgs) == 1
assert msgs[0][3] == b'MSGCONTENT10'
assert msgs[0][2] == b'MSGCONTENT10'
msgs = list(reader.messages(start=7 * 10**9))
assert len(msgs) == 1
assert msgs[0][3] == b'MSGCONTENT10'
assert msgs[0][2] == b'MSGCONTENT10'
msgs = list(reader.messages(stop=7 * 10**9))
assert len(msgs) == 1
assert msgs[0][3] == b'MSGCONTENT5'
assert msgs[0][2] == b'MSGCONTENT5'
def test_user_errors(tmp_path):
tests/test_roundtrip.py
+5 -4
View File
@@ -29,14 +29,15 @@ def test_roundtrip(mode: Writer.CompressionMode, tmp_path: Path):
wbag.set_compression(mode, wbag.CompressionFormat.ZSTD)
with wbag:
msgtype = 'std_msgs/msg/Float64'
wbag.add_topic('/test', msgtype)
wbag.write('/test', 42, serialize_cdr(Foo, msgtype))
wconnection = wbag.add_connection('/test', msgtype)
wbag.write(wconnection, 42, serialize_cdr(Foo, msgtype))
rbag = Reader(path)
with rbag:
gen = rbag.messages()
_, msgtype, _, raw = next(gen)
msg = deserialize_cdr(raw, msgtype)
rconnection, _, raw = next(gen)
assert rconnection == wconnection
msg = deserialize_cdr(raw, rconnection.msgtype)
assert msg.data == Foo.data
with pytest.raises(StopIteration):
next(gen)
tests/test_writer.py
+19 -17
View File
@@ -9,6 +9,7 @@ from typing import TYPE_CHECKING
import pytest
from rosbags.rosbag2 import Writer, WriterError
from rosbags.rosbag2.connection import Connection
if TYPE_CHECKING:
from pathlib import Path
@@ -18,9 +19,9 @@ def test_writer(tmp_path: Path):
"""Test Writer."""
path = (tmp_path / 'rosbag2')
with Writer(path) as bag:
bag.add_topic('/test', 'std_msgs/msg/Int8')
bag.write('/test', 42, b'\x00')
bag.write('/test', 666, b'\x01' * 4096)
connection = bag.add_connection('/test', 'std_msgs/msg/Int8')
bag.write(connection, 42, b'\x00')
bag.write(connection, 666, b'\x01' * 4096)
assert (path / 'metadata.yaml').exists()
assert (path / 'rosbag2.db3').exists()
size = (path / 'rosbag2.db3').stat().st_size
@@ -29,9 +30,9 @@ def test_writer(tmp_path: Path):
bag = Writer(path)
bag.set_compression(bag.CompressionMode.NONE, bag.CompressionFormat.ZSTD)
with bag:
bag.add_topic('/test', 'std_msgs/msg/Int8')
bag.write('/test', 42, b'\x00')
bag.write('/test', 666, b'\x01' * 4096)
connection = bag.add_connection('/test', 'std_msgs/msg/Int8')
bag.write(connection, 42, b'\x00')
bag.write(connection, 666, b'\x01' * 4096)
assert (path / 'metadata.yaml').exists()
assert (path / 'compress_none.db3').exists()
assert size == (path / 'compress_none.db3').stat().st_size
@@ -40,9 +41,9 @@ def test_writer(tmp_path: Path):
bag = Writer(path)
bag.set_compression(bag.CompressionMode.FILE, bag.CompressionFormat.ZSTD)
with bag:
bag.add_topic('/test', 'std_msgs/msg/Int8')
bag.write('/test', 42, b'\x00')
bag.write('/test', 666, b'\x01' * 4096)
connection = bag.add_connection('/test', 'std_msgs/msg/Int8')
bag.write(connection, 42, b'\x00')
bag.write(connection, 666, b'\x01' * 4096)
assert (path / 'metadata.yaml').exists()
assert not (path / 'compress_file.db3').exists()
assert (path / 'compress_file.db3.zstd').exists()
@@ -51,9 +52,9 @@ def test_writer(tmp_path: Path):
bag = Writer(path)
bag.set_compression(bag.CompressionMode.MESSAGE, bag.CompressionFormat.ZSTD)
with bag:
bag.add_topic('/test', 'std_msgs/msg/Int8')
bag.write('/test', 42, b'\x00')
bag.write('/test', 666, b'\x01' * 4096)
connection = bag.add_connection('/test', 'std_msgs/msg/Int8')
bag.write(connection, 42, b'\x00')
bag.write(connection, 666, b'\x01' * 4096)
assert (path / 'metadata.yaml').exists()
assert (path / 'compress_message.db3').exists()
assert size > (path / 'compress_message.db3').stat().st_size
@@ -76,7 +77,7 @@ def test_failure_cases(tmp_path: Path):
bag = Writer(tmp_path / 'topic')
with pytest.raises(WriterError, match='was not opened'):
bag.add_topic('/tf', 'tf_msgs/msg/tf2')
bag.add_connection('/tf', 'tf_msgs/msg/tf2')
bag = Writer(tmp_path / 'write')
with pytest.raises(WriterError, match='was not opened'):
@@ -84,11 +85,12 @@ def test_failure_cases(tmp_path: Path):
bag = Writer(tmp_path / 'topic')
bag.open()
bag.add_topic('/tf', 'tf_msgs/msg/tf2')
bag.add_connection('/tf', 'tf_msgs/msg/tf2')
with pytest.raises(WriterError, match='only be added once'):
bag.add_topic('/tf', 'tf_msgs/msg/tf2')
bag.add_connection('/tf', 'tf_msgs/msg/tf2')
bag = Writer(tmp_path / 'notopic')
bag.open()
with pytest.raises(WriterError, match='unknown topic'):
bag.write('/test', 42, b'\x00')
connection = Connection(1, 0, '/tf', 'tf_msgs/msg/tf2', 'cdr', '')
with pytest.raises(WriterError, match='unknown connection'):
bag.write(connection, 42, b'\x00')