184 lines
4.8 KiB
Python
184 lines
4.8 KiB
Python
# 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
|
|
uint32 static = 42
|
|
"""
|
|
|
|
RELSIBLING_MSG = """
|
|
Header header
|
|
Other other
|
|
"""
|
|
|
|
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];
|
|
|
|
module Foo_Constants {
|
|
const int32 FOO = 32;
|
|
const int64 BAR = 64;
|
|
};
|
|
|
|
@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
|
|
consts, fields = ret['test_msgs/msg/Foo']
|
|
assert consts == [('global', 'int32', 42)]
|
|
assert fields[0][0] == 'header'
|
|
assert fields[0][1][1] == 'std_msgs/msg/Header'
|
|
assert fields[1][0] == 'bool'
|
|
assert fields[1][1][1] == 'std_msgs/msg/Bool'
|
|
assert fields[2][0] == 'sibling'
|
|
assert fields[2][1][1] == 'test_msgs/msg/Bar'
|
|
assert fields[3][1][0] == Nodetype.BASE
|
|
assert fields[4][1][0] == Nodetype.SEQUENCE
|
|
assert fields[5][1][0] == Nodetype.SEQUENCE
|
|
assert fields[6][1][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
|
|
fields = ret['test_msgs/msg/Foo'][1]
|
|
assert fields[0][1][1] == 'std_msgs/msg/Header'
|
|
assert fields[1][1][1] == 'uint8'
|
|
assert fields[2][1][1] == 'uint8'
|
|
consts = ret['test_msgs/msg/Other'][0]
|
|
assert consts == [('static', 'uint32', 42)]
|
|
|
|
|
|
def test_parse_relative_siblings_msg():
|
|
"""Test relative siblings with msg parser."""
|
|
ret = get_types_from_msg(RELSIBLING_MSG, 'test_msgs/msg/Foo')
|
|
assert ret['test_msgs/msg/Foo'][1][0][1][1] == 'std_msgs/msg/Header'
|
|
assert ret['test_msgs/msg/Foo'][1][1][1][1] == 'test_msgs/msg/Other'
|
|
|
|
ret = get_types_from_msg(RELSIBLING_MSG, 'rel_msgs/msg/Foo')
|
|
assert ret['rel_msgs/msg/Foo'][1][0][1][1] == 'std_msgs/msg/Header'
|
|
assert ret['rel_msgs/msg/Foo'][1][1][1][1] == 'rel_msgs/msg/Other'
|
|
|
|
|
|
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
|
|
consts, fields = ret['test_msgs/msg/Foo']
|
|
assert consts == [('FOO', 'int32', 32), ('BAR', 'int64', 64)]
|
|
assert fields[0][0] == 'header'
|
|
assert fields[0][1][1] == 'std_msgs/msg/Header'
|
|
assert fields[1][0] == 'bool'
|
|
assert fields[1][1][1] == 'std_msgs/msg/Bool'
|
|
assert fields[2][0] == 'sibling'
|
|
assert fields[2][1][1] == 'test_msgs/msg/Bar'
|
|
assert fields[3][1][0] == Nodetype.BASE
|
|
assert fields[4][1][0] == Nodetype.SEQUENCE
|
|
assert fields[5][1][0] == Nodetype.SEQUENCE
|
|
assert fields[6][1][0] == Nodetype.ARRAY
|
|
|
|
|
|
def test_register_types():
|
|
"""Test type registeration."""
|
|
assert 'foo' not in FIELDDEFS
|
|
register_types({})
|
|
register_types({'foo': [[], [('b', (1, 'bool'))]]})
|
|
assert 'foo' in FIELDDEFS
|
|
|
|
register_types({'std_msgs/msg/Header': [[], []]})
|
|
assert len(FIELDDEFS['std_msgs/msg/Header'][1]) == 2
|
|
|
|
with pytest.raises(TypesysError, match='different definition'):
|
|
register_types({'foo': [[], [('x', (1, 'bool'))]]})
|