rosbag: cleaning up unit tests
This commit is contained in:
Tim Field
parent
0e73f9240a
commit
f8d7e63161
|
|
@ -29,8 +29,10 @@
|
|||
#include "rosbag/chunked_file.h"
|
||||
#include "rosbag/view.h"
|
||||
|
||||
#include <iostream>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <iostream>
|
||||
#include <set>
|
||||
|
||||
#include <boost/assign/list_of.hpp>
|
||||
|
|
@ -77,8 +79,10 @@ protected:
|
|||
b.open(filename, rosbag::bagmode::Read);
|
||||
|
||||
int message_count = 0;
|
||||
|
||||
rosbag::View view;
|
||||
view.addQuery(b, rosbag::Query());
|
||||
|
||||
foreach(rosbag::MessageInstance m, view) {
|
||||
std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();
|
||||
if (s != NULL) {
|
||||
|
|
@ -97,10 +101,39 @@ protected:
|
|||
}
|
||||
};
|
||||
|
||||
TEST(rosbag, simplewrite)
|
||||
{
|
||||
rosbag::Bag bag;
|
||||
bag.open("test.bag", rosbag::bagmode::Write);
|
||||
TEST_F(BagTest, write_then_read_works) {
|
||||
std::string filename("/tmp/write_then_read_works.bag");
|
||||
|
||||
rosbag::Bag b1;
|
||||
b1.open(filename, rosbag::bagmode::Write);
|
||||
b1.write("chatter", ros::Time::now(), foo_);
|
||||
b1.write("numbers", ros::Time::now(), i_);
|
||||
b1.close();
|
||||
|
||||
checkContents(filename);
|
||||
}
|
||||
|
||||
TEST_F(BagTest, append_works) {
|
||||
std::string filename("/tmp/append_works.bag");
|
||||
|
||||
rosbag::Bag b1;
|
||||
b1.open(filename, rosbag::bagmode::Write);
|
||||
b1.write("chatter", ros::Time::now(), foo_);
|
||||
b1.close();
|
||||
dumpContents(b1);
|
||||
|
||||
rosbag::Bag b2;
|
||||
b2.open(filename, rosbag::bagmode::Append);
|
||||
b2.write("numbers", ros::Time::now(), i_);
|
||||
b2.close();
|
||||
dumpContents(b2);
|
||||
|
||||
checkContents(filename);
|
||||
}
|
||||
|
||||
TEST(rosbag, simple_write_and_read_works) {
|
||||
rosbag::Bag b1;
|
||||
b1.open("/tmp/simple_write_and_read_works.bag", rosbag::bagmode::Write);
|
||||
|
||||
std_msgs::String str;
|
||||
str.data = std::string("foo");
|
||||
|
|
@ -108,23 +141,20 @@ TEST(rosbag, simplewrite)
|
|||
std_msgs::Int32 i;
|
||||
i.data = 42;
|
||||
|
||||
bag.write("chatter", ros::Time::now(), str);
|
||||
bag.write("numbers", ros::Time::now(), i);
|
||||
b1.write("chatter", ros::Time::now(), str);
|
||||
b1.write("numbers", ros::Time::now(), i);
|
||||
|
||||
bag.close();
|
||||
}
|
||||
b1.close();
|
||||
|
||||
TEST(rosbag, simpleread)
|
||||
{
|
||||
rosbag::Bag bag;
|
||||
bag.open("test.bag", rosbag::bagmode::Read);
|
||||
rosbag::Bag b2;
|
||||
b2.open("/tmp/simple_write_and_read_works.bag", rosbag::bagmode::Read);
|
||||
|
||||
std::vector<std::string> topics;
|
||||
topics.push_back(std::string("chatter"));
|
||||
topics.push_back(std::string("numbers"));
|
||||
|
||||
rosbag::View view;
|
||||
view.addQuery(bag, rosbag::TopicQuery(topics));
|
||||
view.addQuery(b2, rosbag::TopicQuery(topics));
|
||||
|
||||
foreach(rosbag::MessageInstance const m, view) {
|
||||
std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();
|
||||
|
|
@ -136,13 +166,12 @@ TEST(rosbag, simpleread)
|
|||
ASSERT_EQ(i->data, 42);
|
||||
}
|
||||
|
||||
bag.close();
|
||||
b2.close();
|
||||
}
|
||||
|
||||
TEST(rosbag, timequery)
|
||||
{
|
||||
TEST(rosbag, time_query_works) {
|
||||
rosbag::Bag outbag;
|
||||
outbag.open("timequery.bag", rosbag::bagmode::Write);
|
||||
outbag.open("/tmp/time_query_works.bag", rosbag::bagmode::Write);
|
||||
|
||||
std_msgs::Int32 imsg;
|
||||
|
||||
|
|
@ -159,7 +188,7 @@ TEST(rosbag, timequery)
|
|||
outbag.close();
|
||||
|
||||
rosbag::Bag bag;
|
||||
bag.open("timequery.bag", rosbag::bagmode::Read);
|
||||
bag.open("/tmp/time_query_works.bag", rosbag::bagmode::Read);
|
||||
|
||||
rosbag::View view;
|
||||
view.addQuery(bag, rosbag::Query(ros::Time(23, 0), ros::Time(782, 0)));
|
||||
|
|
@ -177,10 +206,9 @@ TEST(rosbag, timequery)
|
|||
bag.close();
|
||||
}
|
||||
|
||||
TEST(rosbag, topicquery)
|
||||
{
|
||||
TEST(rosbag, topic_query_works) {
|
||||
rosbag::Bag outbag;
|
||||
outbag.open("topicquery.bag", rosbag::bagmode::Write);
|
||||
outbag.open("/tmp/topic_query_works.bag", rosbag::bagmode::Write);
|
||||
|
||||
std_msgs::Int32 imsg;
|
||||
|
||||
|
|
@ -199,7 +227,7 @@ TEST(rosbag, topicquery)
|
|||
outbag.close();
|
||||
|
||||
rosbag::Bag bag;
|
||||
bag.open("topicquery.bag", rosbag::bagmode::Read);
|
||||
bag.open("/tmp/topic_query_works.bag", rosbag::bagmode::Read);
|
||||
|
||||
std::vector<std::string> t = boost::assign::list_of("t0")("t1");
|
||||
|
||||
|
|
@ -217,13 +245,12 @@ TEST(rosbag, topicquery)
|
|||
bag.close();
|
||||
}
|
||||
|
||||
TEST(rosbag, verifymultibag)
|
||||
{
|
||||
TEST(rosbag, multiple_bag_works) {
|
||||
rosbag::Bag outbag1;
|
||||
outbag1.open("bag1.bag", rosbag::bagmode::Write);
|
||||
outbag1.open("/tmp/multiple_bag_works1.bag", rosbag::bagmode::Write);
|
||||
|
||||
rosbag::Bag outbag2;
|
||||
outbag2.open("bag2.bag", rosbag::bagmode::Write);
|
||||
outbag2.open("/tmp/multiple_bag_works2.bag", rosbag::bagmode::Write);
|
||||
|
||||
std_msgs::Int32 imsg;
|
||||
for (int i = 0; i < 1000; i++) {
|
||||
|
|
@ -241,10 +268,10 @@ TEST(rosbag, verifymultibag)
|
|||
outbag2.close();
|
||||
|
||||
rosbag::Bag bag1;
|
||||
bag1.open("bag1.bag", rosbag::bagmode::Read);
|
||||
bag1.open("/tmp/multiple_bag_works1.bag", rosbag::bagmode::Read);
|
||||
|
||||
rosbag::Bag bag2;
|
||||
bag2.open("bag2.bag", rosbag::bagmode::Read);
|
||||
bag2.open("/tmp/multiple_bag_works2.bag", rosbag::bagmode::Read);
|
||||
|
||||
rosbag::View view;
|
||||
view.addQuery(bag1, rosbag::Query());
|
||||
|
|
@ -262,10 +289,9 @@ TEST(rosbag, verifymultibag)
|
|||
bag2.close();
|
||||
}
|
||||
|
||||
TEST(rosbag, modifyview)
|
||||
{
|
||||
TEST(rosbag, modify_view_works) {
|
||||
rosbag::Bag outbag;
|
||||
outbag.open("modify.bag", rosbag::bagmode::Write);
|
||||
outbag.open("/tmp/modify_view_works.bag", rosbag::bagmode::Write);
|
||||
|
||||
std_msgs::Int32 imsg;
|
||||
|
||||
|
|
@ -285,7 +311,7 @@ TEST(rosbag, modifyview)
|
|||
outbag.close();
|
||||
|
||||
rosbag::Bag bag;
|
||||
bag.open("modify.bag", rosbag::bagmode::Read);
|
||||
bag.open("/tmp/modify_view_works.bag", rosbag::bagmode::Read);
|
||||
|
||||
std::vector<std::string> t0 = boost::assign::list_of("t0");
|
||||
std::vector<std::string> t1 = boost::assign::list_of("t1");
|
||||
|
|
@ -330,10 +356,9 @@ TEST(rosbag, modifyview)
|
|||
bag.close();
|
||||
}
|
||||
|
||||
TEST(rosbag, modifybag)
|
||||
{
|
||||
TEST(rosbag, modify_bag_works) {
|
||||
rosbag::Bag rwbag;
|
||||
rwbag.open("rwbag.bag", rosbag::bagmode::Write);// | rosbag::bagmode::Read);
|
||||
rwbag.open("/tmp/modify_bag_works.bag", rosbag::bagmode::Write);// | rosbag::bagmode::Read);
|
||||
|
||||
std::vector<std::string> t0 = boost::assign::list_of("t0");
|
||||
|
||||
|
|
@ -387,213 +412,6 @@ TEST(rosbag, modifybag)
|
|||
rwbag.close();
|
||||
}
|
||||
|
||||
TEST_F(BagTest, WriteThenReadWorks) {
|
||||
std::string filename("test/WriteThenRead.bag");
|
||||
|
||||
rosbag::Bag b1;
|
||||
b1.open(filename, rosbag::bagmode::Write);
|
||||
b1.write("chatter", ros::Time::now(), foo_);
|
||||
b1.write("numbers", ros::Time::now(), i_);
|
||||
b1.close();
|
||||
|
||||
checkContents(filename);
|
||||
}
|
||||
|
||||
TEST_F(BagTest, AppendWorks) {
|
||||
std::string filename("test/Append.bag");
|
||||
|
||||
rosbag::Bag b1;
|
||||
b1.open(filename, rosbag::bagmode::Write);
|
||||
b1.write("chatter", ros::Time::now(), foo_);
|
||||
b1.close();
|
||||
dumpContents(b1);
|
||||
|
||||
rosbag::Bag b2;
|
||||
b2.open(filename, rosbag::bagmode::Append);
|
||||
b2.write("numbers", ros::Time::now(), i_);
|
||||
b2.close();
|
||||
dumpContents(b2);
|
||||
|
||||
checkContents(filename);
|
||||
}
|
||||
|
||||
/*
|
||||
TEST_F(BagTest, ReadAppendWorks) {
|
||||
std::string filename("test/ReadAppend.bag");
|
||||
|
||||
rosbag::Bag b;
|
||||
b.open(filename, rosbag::bagmode::Write);
|
||||
b.write("chatter", ros::Time::now(), foo_);
|
||||
b.close();
|
||||
|
||||
rosbag::Bag b2;
|
||||
b2.open(filename, rosbag::bagmode::Append);
|
||||
b2.write("numbers", ros::Time::now(), i_);
|
||||
b2.close();
|
||||
|
||||
checkContents(filename);
|
||||
}
|
||||
|
||||
TEST_F(BagTest, ChunkedFileWorks) {
|
||||
std::string filename("test/ChunkedFile.bag");
|
||||
|
||||
std::string s1("aaaa");
|
||||
std::string s2("bbbb");
|
||||
std::string s3("cccc");
|
||||
|
||||
rosbag::ChunkedFile f;
|
||||
|
||||
f.openWrite(filename);
|
||||
f.setWriteMode(rosbag::compression::BZ2);
|
||||
f.write(s1);
|
||||
f.setWriteMode(rosbag::compression::None);
|
||||
f.write(s2);
|
||||
|
||||
uint64_t offset1 = f.getOffset();
|
||||
std::cout << "offset = " << offset1 << std::endl;
|
||||
|
||||
f.setWriteMode(rosbag::compression::BZ2);
|
||||
f.write(s3);
|
||||
|
||||
f.close();
|
||||
|
||||
//
|
||||
|
||||
int length = 4;
|
||||
char buffer[length];
|
||||
|
||||
f.openRead(filename);
|
||||
|
||||
f.setReadMode(rosbag::compression::BZ2);
|
||||
f.read((void*) buffer, length);
|
||||
std::cout << std::string(buffer, length) << std::endl;
|
||||
for (int i = 0; i < length; i++) buffer[i] = ' ';
|
||||
|
||||
f.setReadMode(rosbag::compression::None);
|
||||
f.read((void*) buffer, length);
|
||||
std::cout << std::string(buffer, length) << std::endl;
|
||||
for (int i = 0; i < length; i++) buffer[i] = ' ';
|
||||
|
||||
f.seek(offset1);
|
||||
f.setReadMode(rosbag::compression::BZ2);
|
||||
f.read((void*) buffer, length);
|
||||
std::cout << std::string(buffer, length) << std::endl;
|
||||
for (int i = 0; i < length; i++) buffer[i] = ' ';
|
||||
|
||||
f.seek(0);
|
||||
f.setReadMode(rosbag::compression::BZ2);
|
||||
|
||||
f.read((void*) buffer, length);
|
||||
std::cout << f.getOffset() << std::endl;
|
||||
std::cout << std::string(buffer, length) << std::endl;
|
||||
for (int i = 0; i < length; i++) buffer[i] = ' ';
|
||||
|
||||
f.close();
|
||||
}
|
||||
|
||||
TEST_F(BagTest, ChunkedFileReadWriteWorks) {
|
||||
std::string filename("test/ChunkedFileReadWrite.bag");
|
||||
|
||||
std::string s1("aaaa");
|
||||
std::string s2("bbbb");
|
||||
std::string s3("cccc");
|
||||
|
||||
int length = 4;
|
||||
char buffer[length];
|
||||
|
||||
rosbag::ChunkedFile f;
|
||||
|
||||
f.openReadWrite(filename);
|
||||
|
||||
// 0: write "cccc" (compressed) and close (remember file pos in offset0)
|
||||
f.setWriteMode(rosbag::compression::BZ2);
|
||||
f.write(s3);
|
||||
f.setWriteMode(rosbag::compression::None);
|
||||
uint64_t offset0 = f.getOffset();
|
||||
ROS_INFO("offset0: %llu", (unsigned long long) offset0);
|
||||
|
||||
// 4: write "aaaa" (compressed) and keep open (remember file pos in offset1)
|
||||
f.setWriteMode(rosbag::compression::BZ2);
|
||||
f.write(s1);
|
||||
uint64_t offset1 = f.getOffset();
|
||||
|
||||
f.seek(0);
|
||||
f.setReadMode(rosbag::compression::BZ2);
|
||||
f.read((void*) buffer, length);
|
||||
std::cout << std::string(buffer, length) << std::endl;
|
||||
for (int i = 0; i < length; i++) buffer[i] = ' ';
|
||||
f.setReadMode(rosbag::compression::None);
|
||||
|
||||
f.seek(offset1);
|
||||
f.setWriteMode(rosbag::compression::None);
|
||||
f.setWriteMode(rosbag::compression::BZ2);
|
||||
f.write(s2);
|
||||
f.close();
|
||||
|
||||
f.openRead(filename);
|
||||
f.seek(offset1);
|
||||
f.setReadMode(rosbag::compression::BZ2);
|
||||
f.read((void*) buffer, length);
|
||||
std::cout << std::string(buffer, length) << std::endl;
|
||||
for (int i = 0; i < length; i++) buffer[i] = ' ';
|
||||
f.read((void*) buffer, length);
|
||||
std::cout << std::string(buffer, length) << std::endl;
|
||||
for (int i = 0; i < length; i++) buffer[i] = ' ';
|
||||
f.close();
|
||||
}
|
||||
|
||||
TEST_F(BagTest, TestChunkSizes) {
|
||||
uint32_t chunk_threshold_lo = 700 * 1024;
|
||||
uint32_t chunk_threshold_hi = 1000 * 1024;
|
||||
|
||||
for (uint32_t t = chunk_threshold_lo; t <= chunk_threshold_hi; t += (25 * 1024)) {
|
||||
rosbag::Bag b;
|
||||
b.setChunkThreshold(t);
|
||||
b.rewrite("test/diag_test.bag", "test/diag_test_" + boost::lexical_cast<std::string>(t) + ".bag");
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(BagTest, Read102IndexedWorks) {
|
||||
rosbag::Bag b;
|
||||
b.open("test/sample_1.2_indexed.bag", rosbag::bagmode::Read);
|
||||
b.close();
|
||||
}
|
||||
|
||||
TEST_F(BagTest, Convert102To103Works) {
|
||||
rosbag::Bag in, out;
|
||||
in.open("test/sample_1.2_indexed.bag", rosbag::bagmode::Read);
|
||||
out.open("test/Convert102To103Works.bag", rosbag::bagmode::Write);
|
||||
rosbag::View view;
|
||||
view.addQuery(bag, rosbag::Query());
|
||||
foreach(rosbag::MessageInstance m, view) {
|
||||
m.instantiateMessage();
|
||||
out.write(m.getTopic(), m.getTime(), m);
|
||||
}
|
||||
in.close();
|
||||
out.close();
|
||||
}
|
||||
|
||||
TEST_F(BagTest, RewriteWorks) {
|
||||
rosbag::Bag in, out;
|
||||
in.open("test/sample_1.3.bag", rosbag::bagmode::Read);
|
||||
out.open("test/RewriteWorks.bag", rosbag::bagmode::Write);
|
||||
rosbag::View view;
|
||||
view.addQuery(bag, rosbag::Query());
|
||||
foreach(rosbag::MessageInstance m, view) {
|
||||
m.instantiateMessage();
|
||||
out.write(m.getTopic(), m.getTime(), m);
|
||||
}
|
||||
in.close();
|
||||
out.close();
|
||||
}
|
||||
|
||||
TEST_F(BagTest, Read102UnindexedWorks) {
|
||||
rosbag::Bag b;
|
||||
b.open("test/sample_1.2_unindexed.bag", rosbag::bagmode::Read);
|
||||
b.close();
|
||||
}
|
||||
*/
|
||||
|
||||
int main(int argc, char **argv) {
|
||||
testing::InitGoogleTest(&argc, argv);
|
||||
return RUN_ALL_TESTS();
|
||||
|
|
|
|||
Loading…
Reference in New Issue