366 lines
13 KiB
Python
366 lines
13 KiB
Python
# Copyright 2020-2022 Ternaris.
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# SPDX-License-Identifier: Apache-2.0
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"""Rosbag1to2 converter tests."""
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from __future__ import annotations
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import sys
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from pathlib import Path
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from typing import TYPE_CHECKING
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from unittest.mock import call, patch
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import pytest
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from rosbags.convert import ConverterError, convert
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from rosbags.convert.__main__ import main
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from rosbags.convert.converter import LATCH
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from rosbags.interfaces import Connection, ConnectionExtRosbag1, ConnectionExtRosbag2
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from rosbags.rosbag1 import ReaderError
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from rosbags.rosbag2 import WriterError
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if TYPE_CHECKING:
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from typing import Any
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def test_cliwrapper(tmp_path: Path) -> None:
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"""Test cli wrapper."""
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(tmp_path / 'subdir').mkdir()
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(tmp_path / 'ros1.bag').write_text('')
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with patch('rosbags.convert.__main__.convert') as cvrt, \
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patch.object(sys, 'argv', ['cvt']), \
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pytest.raises(SystemExit):
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main()
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assert not cvrt.called
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with patch('rosbags.convert.__main__.convert') as cvrt, \
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patch.object(sys, 'argv', ['cvt', str(tmp_path / 'no.bag')]), \
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pytest.raises(SystemExit):
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main()
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assert not cvrt.called
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with patch('rosbags.convert.__main__.convert') as cvrt, \
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patch.object(sys, 'argv', ['cvt', str(tmp_path / 'ros1.bag')]):
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main()
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cvrt.assert_called_with(tmp_path / 'ros1.bag', None)
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with patch('rosbags.convert.__main__.convert') as cvrt, \
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patch.object(sys, 'argv', ['cvt',
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str(tmp_path / 'ros1.bag'),
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'--dst',
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str(tmp_path / 'subdir')]), \
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pytest.raises(SystemExit):
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main()
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assert not cvrt.called
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with patch('rosbags.convert.__main__.convert') as cvrt, \
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patch.object(sys, 'argv', ['cvt',
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str(tmp_path / 'ros1.bag'),
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'--dst',
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str(tmp_path / 'ros2.bag')]), \
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pytest.raises(SystemExit):
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main()
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assert not cvrt.called
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with patch('rosbags.convert.__main__.convert') as cvrt, \
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patch.object(sys, 'argv', ['cvt',
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str(tmp_path / 'ros1.bag'),
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'--dst',
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str(tmp_path / 'target')]):
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main()
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cvrt.assert_called_with(tmp_path / 'ros1.bag', tmp_path / 'target')
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with patch.object(sys, 'argv', ['cvt', str(tmp_path / 'ros1.bag')]), \
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patch('builtins.print') as mock_print, \
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patch('rosbags.convert.__main__.convert', side_effect=ConverterError('exc')), \
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pytest.raises(SystemExit):
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main()
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mock_print.assert_called_with('ERROR: exc')
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with patch('rosbags.convert.__main__.convert') as cvrt, \
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patch.object(sys, 'argv', ['cvt', str(tmp_path / 'subdir')]):
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main()
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cvrt.assert_called_with(tmp_path / 'subdir', None)
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with patch('rosbags.convert.__main__.convert') as cvrt, \
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patch.object(sys, 'argv', ['cvt',
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str(tmp_path / 'subdir'),
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'--dst',
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str(tmp_path / 'ros1.bag')]), \
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pytest.raises(SystemExit):
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main()
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assert not cvrt.called
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with patch('rosbags.convert.__main__.convert') as cvrt, \
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patch.object(sys, 'argv', ['cvt',
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str(tmp_path / 'subdir'),
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'--dst',
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str(tmp_path / 'target.bag')]):
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main()
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cvrt.assert_called_with(tmp_path / 'subdir', tmp_path / 'target.bag')
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with patch.object(sys, 'argv', ['cvt', str(tmp_path / 'subdir')]), \
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patch('builtins.print') as mock_print, \
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patch('rosbags.convert.__main__.convert', side_effect=ConverterError('exc')), \
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pytest.raises(SystemExit):
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main()
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mock_print.assert_called_with('ERROR: exc')
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def test_convert_1to2(tmp_path: Path) -> None:
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"""Test conversion from rosbag1 to rosbag2."""
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(tmp_path / 'subdir').mkdir()
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(tmp_path / 'foo.bag').write_text('')
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with pytest.raises(ConverterError, match='exists already'):
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convert(Path('foo.bag'), tmp_path / 'subdir')
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with patch('rosbags.convert.converter.Reader1') as reader, \
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patch('rosbags.convert.converter.Writer2') as writer, \
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patch('rosbags.convert.converter.get_types_from_msg', return_value={'typ': 'def'}), \
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patch('rosbags.convert.converter.register_types') as register_types, \
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patch('rosbags.convert.converter.ros1_to_cdr') as ros1_to_cdr:
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readerinst = reader.return_value.__enter__.return_value
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writerinst = writer.return_value.__enter__.return_value
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connections = [
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Connection(1, '/topic', 'typ', 'def', '', -1, ConnectionExtRosbag1(None, False)),
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Connection(2, '/topic', 'typ', 'def', '', -1, ConnectionExtRosbag1(None, True)),
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Connection(3, '/other', 'typ', 'def', '', -1, ConnectionExtRosbag1(None, False)),
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Connection(4, '/other', 'typ', 'def', '', -1, ConnectionExtRosbag1('caller', False)),
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]
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wconnections = [
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Connection(1, '/topic', 'typ', '', '', -1, ConnectionExtRosbag2('cdr', '')),
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Connection(2, '/topic', 'typ', '', '', -1, ConnectionExtRosbag2('cdr', LATCH)),
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Connection(3, '/other', 'typ', '', '', -1, ConnectionExtRosbag2('cdr', '')),
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]
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readerinst.connections = {
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1: connections[0],
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2: connections[1],
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3: connections[2],
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4: connections[3],
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}
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readerinst.messages.return_value = [
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(connections[0], 42, b'\x42'),
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(connections[1], 43, b'\x43'),
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(connections[2], 44, b'\x44'),
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(connections[3], 45, b'\x45'),
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]
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writerinst.connections = {}
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def add_connection(*_: Any) -> Connection: # noqa: ANN401
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"""Mock for Writer.add_connection."""
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writerinst.connections = {
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conn.id: conn
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for _, conn in zip(range(len(writerinst.connections) + 1), wconnections)
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}
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return wconnections[len(writerinst.connections) - 1]
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writerinst.add_connection.side_effect = add_connection
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ros1_to_cdr.return_value = b'666'
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convert(Path('foo.bag'), None)
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reader.assert_called_with(Path('foo.bag'))
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readerinst.messages.assert_called_with()
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writer.assert_called_with(Path('foo'))
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writerinst.add_connection.assert_has_calls(
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[
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call('/topic', 'typ', 'cdr', ''),
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call('/topic', 'typ', 'cdr', LATCH),
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call('/other', 'typ', 'cdr', ''),
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],
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)
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writerinst.write.assert_has_calls(
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[
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call(wconnections[0], 42, b'666'),
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call(wconnections[1], 43, b'666'),
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call(wconnections[2], 44, b'666'),
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call(wconnections[2], 45, b'666'),
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],
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)
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register_types.assert_called_with({'typ': 'def'})
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ros1_to_cdr.assert_has_calls(
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[
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call(b'\x42', 'typ'),
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call(b'\x43', 'typ'),
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call(b'\x44', 'typ'),
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call(b'\x45', 'typ'),
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],
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)
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writerinst.connections.clear()
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ros1_to_cdr.side_effect = KeyError('exc')
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with pytest.raises(ConverterError, match='Converting rosbag: .*exc'):
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convert(Path('foo.bag'), None)
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writer.side_effect = WriterError('exc')
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with pytest.raises(ConverterError, match='Writing destination bag: exc'):
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convert(Path('foo.bag'), None)
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reader.side_effect = ReaderError('exc')
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with pytest.raises(ConverterError, match='Reading source bag: exc'):
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convert(Path('foo.bag'), None)
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def test_convert_2to1(tmp_path: Path) -> None:
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"""Test conversion from rosbag2 to rosbag1."""
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(tmp_path / 'subdir').mkdir()
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(tmp_path / 'foo.bag').write_text('')
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with pytest.raises(ConverterError, match='exists already'):
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convert(Path('subdir'), tmp_path / 'foo.bag')
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with patch('rosbags.convert.converter.Reader2') as reader, \
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patch('rosbags.convert.converter.Writer1') as writer, \
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patch('rosbags.convert.converter.cdr_to_ros1') as cdr_to_ros1:
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readerinst = reader.return_value.__enter__.return_value
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writerinst = writer.return_value.__enter__.return_value
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connections = [
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Connection(1, '/topic', 'std_msgs/msg/Bool', '', '', -1, ConnectionExtRosbag2('', '')),
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Connection(
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2,
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'/topic',
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'std_msgs/msg/Bool',
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'',
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'',
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-1,
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ConnectionExtRosbag2('', LATCH),
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),
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Connection(3, '/other', 'std_msgs/msg/Bool', '', '', -1, ConnectionExtRosbag2('', '')),
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Connection(4, '/other', 'std_msgs/msg/Bool', '', '', -1, ConnectionExtRosbag2('', '0')),
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]
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wconnections = [
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Connection(
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1,
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'/topic',
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'std_msgs/msg/Bool',
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'',
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'8b94c1b53db61fb6aed406028ad6332a',
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-1,
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ConnectionExtRosbag1(None, False),
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),
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Connection(
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2,
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'/topic',
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'std_msgs/msg/Bool',
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'',
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'8b94c1b53db61fb6aed406028ad6332a',
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-1,
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ConnectionExtRosbag1(None, True),
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),
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Connection(
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3,
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'/other',
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'std_msgs/msg/Bool',
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'',
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'8b94c1b53db61fb6aed406028ad6332a',
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-1,
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ConnectionExtRosbag1(None, False),
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),
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]
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readerinst.connections = {
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1: connections[0],
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2: connections[1],
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3: connections[2],
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4: connections[3],
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}
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readerinst.messages.return_value = [
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(connections[0], 42, b'\x42'),
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(connections[1], 43, b'\x43'),
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(connections[2], 44, b'\x44'),
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(connections[3], 45, b'\x45'),
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]
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writerinst.connections = {}
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def add_connection(*_: Any) -> Connection: # noqa: ANN401
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"""Mock for Writer.add_connection."""
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writerinst.connections = {
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conn.id: conn
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for _, conn in zip(range(len(writerinst.connections) + 1), wconnections)
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}
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return wconnections[len(writerinst.connections) - 1]
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writerinst.add_connection.side_effect = add_connection
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cdr_to_ros1.return_value = b'666'
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convert(Path('foo'), None)
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reader.assert_called_with(Path('foo'))
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reader.return_value.__enter__.return_value.messages.assert_called_with()
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writer.assert_called_with(Path('foo.bag'))
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writer.return_value.__enter__.return_value.add_connection.assert_has_calls(
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[
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call(
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'/topic',
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'std_msgs/msg/Bool',
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'bool data\n',
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'8b94c1b53db61fb6aed406028ad6332a',
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None,
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0,
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),
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call(
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'/topic',
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'std_msgs/msg/Bool',
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'bool data\n',
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'8b94c1b53db61fb6aed406028ad6332a',
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None,
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1,
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),
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call(
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'/other',
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'std_msgs/msg/Bool',
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'bool data\n',
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'8b94c1b53db61fb6aed406028ad6332a',
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None,
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0,
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),
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],
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)
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writer.return_value.__enter__.return_value.write.assert_has_calls(
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[
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call(wconnections[0], 42, b'666'),
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call(wconnections[1], 43, b'666'),
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call(wconnections[2], 44, b'666'),
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call(wconnections[2], 45, b'666'),
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],
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)
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cdr_to_ros1.assert_has_calls(
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[
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call(b'\x42', 'std_msgs/msg/Bool'),
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call(b'\x43', 'std_msgs/msg/Bool'),
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call(b'\x44', 'std_msgs/msg/Bool'),
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call(b'\x45', 'std_msgs/msg/Bool'),
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],
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)
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writerinst.connections.clear()
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cdr_to_ros1.side_effect = KeyError('exc')
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with pytest.raises(ConverterError, match='Converting rosbag: .*exc'):
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convert(Path('foo'), None)
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writer.side_effect = WriterError('exc')
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with pytest.raises(ConverterError, match='Writing destination bag: exc'):
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convert(Path('foo'), None)
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reader.side_effect = ReaderError('exc')
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with pytest.raises(ConverterError, match='Reading source bag: exc'):
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convert(Path('foo'), None)
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