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root / joy / test / .svn / text-base / test_joy_msg_migration.py.svn-base @ ba6306a1

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#!/usr/bin/env python
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# Software License Agreement (BSD License)
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#
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# Copyright (c) 2008, Willow Garage, Inc.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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#  * Redistributions of source code must retain the above copyright
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#    notice, this list of conditions and the following disclaimer.
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#  * Redistributions in binary form must reproduce the above
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#    copyright notice, this list of conditions and the following
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#    disclaimer in the documentation and/or other materials provided
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#    with the distribution.
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#  * Neither the name of Willow Garage, Inc. nor the names of its
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#    contributors may be used to endorse or promote products derived
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#    from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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import roslib
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roslib.load_manifest('joy')
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import sys
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import struct
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import unittest
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import rostest
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import rosbag
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import rosbagmigration
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import re
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from cStringIO import StringIO
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import os
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import rospy
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migrator = rosbagmigration.MessageMigrator()
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def repack(x):
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  return struct.unpack('<f',struct.pack('<f',x))[0]
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class TestJoyMsgsMigration(unittest.TestCase):
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# (*) Joy.saved
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########### Joy ###############
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  def get_old_joy(self):
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    joy_classes = self.load_saved_classes('Joy.saved')
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    joy  = joy_classes['joy/Joy']
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    return joy([0.1,0.2,0.3,0.4,0.5],[0,1,0,1,0])
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  def get_new_joy(self):
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    from sensor_msgs.msg import Joy
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    from roslib.msg import Header
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    return Joy(Header(),[0.1,0.2,0.3,0.4,0.5],[0,1,0,1,0])
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  def test_joy(self):
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    self.do_test('joy', self.get_old_joy, self.get_new_joy)
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########### Helper functions ###########
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  def setUp(self):
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    self.pkg_dir = roslib.packages.get_pkg_dir("joy")
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  def load_saved_classes(self,saved_msg):
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    f = open("%s/test/saved/%s"%(self.pkg_dir,saved_msg), 'r')
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    type_line = f.readline()
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    pat = re.compile(r"\[(.*)]:")
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    type_match = pat.match(type_line)
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    self.assertTrue(type_match is not None, "Full definition file malformed.  First line should be: '[my_package/my_msg]:'")
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    saved_type = type_match.groups()[0]
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    saved_full_text = f.read()
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    saved_classes = roslib.genpy.generate_dynamic(saved_type,saved_full_text)
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    self.assertTrue(saved_classes is not None, "Could not generate class from full definition file.")
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    self.assertTrue(saved_classes.has_key(saved_type), "Could not generate class from full definition file.")
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    return saved_classes
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  def do_test(self, name, old_msg, new_msg):
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    # Name the bags
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    oldbag = "%s/test/%s_old.bag"%(self.pkg_dir,name)
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    newbag = "%s/test/%s_new.bag"%(self.pkg_dir,name)
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    # Create an old message
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    bag = rosbag.Bag(oldbag, 'w')
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    bag.write("topic", old_msg(), roslib.rostime.Time())
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    bag.close()
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    # Check and migrate
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    res = rosbagmigration.checkbag(migrator, oldbag)
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    self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
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    res = rosbagmigration.fixbag(migrator, oldbag, newbag)
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    self.assertTrue(res, 'Bag not converted successfully')
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    # Pull the first message out of the bag
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    topic, msg, t = rosbag.Bag(newbag).read_messages().next()
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    # Reserialize the new message so that floats get screwed up, etc.
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    m = new_msg()
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    buff = StringIO()
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    m.serialize(buff)
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    m.deserialize(buff.getvalue())
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    # Strifying them helps make the comparison easier until I figure out why the equality operator is failing
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    self.assertTrue(roslib.message.strify_message(msg) == roslib.message.strify_message(m))
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#    self.assertTrue(msgs[0][1] == m)
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    #Cleanup
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    os.remove(oldbag)
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    os.remove(newbag)
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if __name__ == '__main__':
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  rostest.unitrun('test_joy_msg', 'test_joy_msg_migration', TestJoyMsgsMigration, sys.argv)