43 lines
1.1 KiB
Python
43 lines
1.1 KiB
Python
# 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.rosbag2 import Reader, Writer
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from rosbags.serde import deserialize_cdr, serialize_cdr
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if TYPE_CHECKING:
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from pathlib import Path
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@pytest.mark.parametrize('mode', [*Writer.CompressionMode])
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def test_roundtrip(mode: Writer.CompressionMode, tmp_path: Path):
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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 / 'rosbag2'
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wbag = Writer(path)
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wbag.set_compression(mode, wbag.CompressionFormat.ZSTD)
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with wbag:
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msgtype = 'std_msgs/msg/Float64'
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wbag.add_topic('/test', msgtype)
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wbag.write('/test', 42, serialize_cdr(Foo, 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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_, msgtype, _, raw = next(gen)
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msg = deserialize_cdr(raw, 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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