root / joy / test / .svn / text-base / test_joy_msg_migration.py.svn-base @ ba6306a1
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1 | ba6306a1 | Priya | #!/usr/bin/env python |
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2 | # Software License Agreement (BSD License) |
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3 | # |
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4 | # Copyright (c) 2008, Willow Garage, Inc. |
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5 | # All rights reserved. |
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6 | # |
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7 | # Redistribution and use in source and binary forms, with or without |
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8 | # modification, are permitted provided that the following conditions |
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9 | # are met: |
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10 | # |
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11 | # * Redistributions of source code must retain the above copyright |
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12 | # notice, this list of conditions and the following disclaimer. |
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13 | # * Redistributions in binary form must reproduce the above |
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14 | # copyright notice, this list of conditions and the following |
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15 | # disclaimer in the documentation and/or other materials provided |
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16 | # with the distribution. |
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17 | # * Neither the name of Willow Garage, Inc. nor the names of its |
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18 | # contributors may be used to endorse or promote products derived |
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19 | # from this software without specific prior written permission. |
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20 | # |
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21 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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22 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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23 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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24 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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25 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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26 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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27 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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28 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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29 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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30 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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31 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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32 | # POSSIBILITY OF SUCH DAMAGE. |
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33 | # |
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34 | |||
35 | import roslib |
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36 | roslib.load_manifest('joy') |
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37 | |||
38 | import sys |
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39 | import struct |
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40 | |||
41 | import unittest |
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42 | |||
43 | import rostest |
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44 | import rosbag |
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45 | import rosbagmigration |
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46 | |||
47 | import re |
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48 | from cStringIO import StringIO |
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49 | import os |
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50 | |||
51 | import rospy |
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52 | |||
53 | |||
54 | |||
55 | migrator = rosbagmigration.MessageMigrator() |
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56 | |||
57 | |||
58 | def repack(x): |
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59 | return struct.unpack('<f',struct.pack('<f',x))[0] |
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60 | |||
61 | class TestJoyMsgsMigration(unittest.TestCase): |
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62 | |||
63 | # (*) Joy.saved |
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64 | |||
65 | ########### Joy ############### |
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66 | |||
67 | |||
68 | def get_old_joy(self): |
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69 | joy_classes = self.load_saved_classes('Joy.saved') |
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70 | joy = joy_classes['joy/Joy'] |
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71 | return joy([0.1,0.2,0.3,0.4,0.5],[0,1,0,1,0]) |
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72 | |||
73 | def get_new_joy(self): |
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74 | from sensor_msgs.msg import Joy |
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75 | from roslib.msg import Header |
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76 | return Joy(Header(),[0.1,0.2,0.3,0.4,0.5],[0,1,0,1,0]) |
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77 | |||
78 | |||
79 | def test_joy(self): |
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80 | self.do_test('joy', self.get_old_joy, self.get_new_joy) |
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81 | |||
82 | ########### Helper functions ########### |
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83 | |||
84 | def setUp(self): |
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85 | self.pkg_dir = roslib.packages.get_pkg_dir("joy") |
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86 | |||
87 | |||
88 | def load_saved_classes(self,saved_msg): |
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89 | f = open("%s/test/saved/%s"%(self.pkg_dir,saved_msg), 'r') |
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90 | |||
91 | type_line = f.readline() |
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92 | pat = re.compile(r"\[(.*)]:") |
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93 | type_match = pat.match(type_line) |
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94 | |||
95 | self.assertTrue(type_match is not None, "Full definition file malformed. First line should be: '[my_package/my_msg]:'") |
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96 | |||
97 | saved_type = type_match.groups()[0] |
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98 | saved_full_text = f.read() |
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99 | |||
100 | saved_classes = roslib.genpy.generate_dynamic(saved_type,saved_full_text) |
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101 | |||
102 | self.assertTrue(saved_classes is not None, "Could not generate class from full definition file.") |
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103 | self.assertTrue(saved_classes.has_key(saved_type), "Could not generate class from full definition file.") |
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104 | |||
105 | return saved_classes |
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106 | |||
107 | def do_test(self, name, old_msg, new_msg): |
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108 | # Name the bags |
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109 | oldbag = "%s/test/%s_old.bag"%(self.pkg_dir,name) |
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110 | newbag = "%s/test/%s_new.bag"%(self.pkg_dir,name) |
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111 | |||
112 | # Create an old message |
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113 | bag = rosbag.Bag(oldbag, 'w') |
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114 | bag.write("topic", old_msg(), roslib.rostime.Time()) |
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115 | bag.close() |
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116 | |||
117 | # Check and migrate |
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118 | res = rosbagmigration.checkbag(migrator, oldbag) |
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119 | self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated') |
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120 | res = rosbagmigration.fixbag(migrator, oldbag, newbag) |
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121 | self.assertTrue(res, 'Bag not converted successfully') |
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122 | |||
123 | # Pull the first message out of the bag |
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124 | topic, msg, t = rosbag.Bag(newbag).read_messages().next() |
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125 | |||
126 | # Reserialize the new message so that floats get screwed up, etc. |
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127 | m = new_msg() |
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128 | buff = StringIO() |
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129 | m.serialize(buff) |
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130 | m.deserialize(buff.getvalue()) |
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131 | |||
132 | # Strifying them helps make the comparison easier until I figure out why the equality operator is failing |
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133 | self.assertTrue(roslib.message.strify_message(msg) == roslib.message.strify_message(m)) |
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134 | # self.assertTrue(msgs[0][1] == m) |
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135 | |||
136 | #Cleanup |
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137 | os.remove(oldbag) |
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138 | os.remove(newbag) |
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139 | |||
140 | |||
141 | if __name__ == '__main__': |
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142 | rostest.unitrun('test_joy_msg', 'test_joy_msg_migration', TestJoyMsgsMigration, sys.argv) |