apoorva
0c9504b343
git-subtree-dir: rosbags git-subtree-mainline: 48df1fbdf4490f3cbfa3267c998d1a0fc98378ca git-subtree-split: c80625df279c154c6ec069cbac30faa319755e47
45 lines
1.3 KiB
Python
45 lines
1.3 KiB
Python
# Copyright 2020-2023 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]) -> None:
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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 getattr(msg, 'data', None) == Foo.data
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with pytest.raises(StopIteration):
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next(gen)
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