Making bagmigration not pass through in the event that constants have changed in the message.

test/test_rosbagmigration/msg_current/Constants.msg

@@ -0,0 +1,3 @@
+int32 CONSTANT=2
+int32 CONSTANT_TWO=42
+int32 value

test/test_rosbagmigration/msg_gen1/Constants.msg

@@ -0,0 +1,2 @@
+int32 CONSTANT=1
+int32 value

test/test_rosbagmigration/msg_gen2/Constants.msg

@@ -0,0 +1,2 @@
+int32 CONSTANT=2
+int32 value

test/test_rosbagmigration/scripts/generate_data_1.py

@@ -90,6 +90,11 @@ def generate_data():
     m = Converged([1.2, 3.4, 5.6, 7.8], [SimpleMigrated(11), SimpleMigrated(22), SimpleMigrated(33), SimpleMigrated(44)])
     bag.add("converged", m, roslib.rostime.Time())
     bag.close()
+
+    bag = rosrecord.Rebagger("test/constants_gen1.bag")
+    m = Constants(Constants.CONSTANT)
+    bag.add("constants", m, roslib.rostime.Time())
+    bag.close()
         
 if __name__ == '__main__':
     generate_data()

test/test_rosbagmigration/scripts/generate_data_2.py

@@ -75,6 +75,11 @@ def generate_data():
     m = Converged([1.2, 3.4, 5.6, 7.8], [SimpleMigrated(11), SimpleMigrated(22), SimpleMigrated(33), SimpleMigrated(44)])
     bag.add("converged", m, roslib.rostime.Time())
     bag.close()
+
+    bag = rosrecord.Rebagger("test/constants_gen2.bag")
+    m = Constants(Constants.CONSTANT)
+    bag.add("constants", m, roslib.rostime.Time())
+    bag.close()
         
 if __name__ == '__main__':
     generate_data()

test/test_rosbagmigration/test/constants.bmr

@@ -0,0 +1,23 @@
+class update_test_rosbagmigration_Constants_06a34bda7d4ea2950ab952e89ca35d7a(MessageUpdateRule):
+	old_type = "test_rosbagmigration/Constants"
+	old_full_text = """
+int32 CONSTANT=1
+int32 value
+"""
+
+	new_type = "test_rosbagmigration/Constants"
+	new_full_text = """
+int32 CONSTANT=2
+int32 CONSTANT_TWO=42
+int32 value
+"""
+
+	order = 0
+	migrated_types = []
+
+	valid = True
+
+	def update(self, old_msg, new_msg):
+		#Constant 'CONSTANT' has changed
+                if (old_msg.value == old_msg.CONSTANT):
+                        new_msg.value = new_msg.CONSTANT

test/test_rosbagmigration/test/migrate_test.py

@@ -348,5 +348,54 @@ class MigrationTest(unittest.TestCase):
 
 
 
+
+  def do_test_constants_no_rules(self, N):
+    tmp_rule_files = []
+    rule_files = ["%s/test/%s"%(self.pkg_dir,r) for r in tmp_rule_files]
+
+    inbag = "%s/test/constants_gen%d.bag"%(self.pkg_dir,N)
+    outbag = "%s/test/constants_gen%d.fixed.bag"%(self.pkg_dir,N)
+
+    mm = rosbagmigration.MessageMigrator(rule_files, False)
+    res = rosbagmigration.checkbag(mm, inbag)
+
+    self.assertTrue(len(res[0][1]) == 1)
+    self.assertTrue(not res[0][1][0].valid)
+    self.assertEqual(res[0][1][0].old_class._md5sum, '06a34bda7d4ea2950ab952e89ca35d7a')
+    self.assertEqual(res[0][1][0].new_class._md5sum, 'b45401c4d442c4da7b0a2a105075fa4a')
+
+
+  def do_test_constants_rules(self, N):
+    tmp_rule_files = ['constants.bmr']
+    rule_files = ["%s/test/%s"%(self.pkg_dir,r) for r in tmp_rule_files]
+
+    inbag = "%s/test/constants_gen%d.bag"%(self.pkg_dir,N)
+    outbag = "%s/test/constants_gen%d.fixed.bag"%(self.pkg_dir,N)
+
+    mm = rosbagmigration.MessageMigrator(rule_files, False)
+    res = rosbagmigration.checkbag(mm, inbag)
+
+    self.assertTrue(not False in [m[1] == [] for m in res], 'Bag not ready to be migrated')
+    res = rosbagmigration.fixbag(mm, inbag, outbag)
+    self.assertTrue(res, 'Bag not converted successfully')
+
+    msgs = [msg for msg in rosrecord.logplayer(outbag)]
+
+    self.assertTrue(len(msgs) > 0)
+
+    self.assertEqual(msgs[0][1]._type, 'test_rosbagmigration/Constants', 'Type name is wrong')
+    self.assertEqual(msgs[0][1].value, msgs[0][1].CONSTANT)
+
+
+  def test_constants_no_rules_gen1(self):
+    self.do_test_constants_no_rules(1)
+
+  def test_constants_gen1(self):
+    self.do_test_constants_rules(1)
+
+  def test_constants_gen2(self):
+    self.do_test_constants_rules(2)
+
+
 if __name__ == '__main__':
   rostest.unitrun('test_rosbagmigration', 'migration_test', MigrationTest, sys.argv)

tools/rosbagmigration/src/rosbagmigration/__init__.py

@@ -121,9 +121,6 @@ def fixbag(migrator, inbag, outbag):
     # This checks/builds up rules for the given migrator
     res = checkbag(migrator, inbag)
 
-    if res == []:
-        return True
-
     # Deserializing all messages is inefficient, but we can speed this up later
     if not False in [m[1] == [] for m in res]:
         rebag = rosrecord.Rebagger(outbag)
@@ -1070,6 +1067,14 @@ class MessageMigrator(object):
         migratedefs = "\tmigrated_types = ["
 
         updatedef = "\tdef update(self, old_msg, new_msg):\n"
+
+        old_consts = constants_from_def(old_class._type, old_class._full_text)
+        new_consts = constants_from_def(new_class._type, new_class._full_text)
+
+        if (not new_consts >= old_consts):
+            validdef = "\tvalid = False\n"
+            for c in (old_consts - new_consts):
+                updatedef += "\t\t#Constant '%s' has changed\n"%(c[0],)
         
         old_slots = []
         old_slots.extend(old_class.__slots__)
@@ -1229,3 +1234,21 @@ def migration_default_value(field_type):
             return '[' + ','.join(itertools.repeat(def_val, array_len)) + ']'
     else:
         return "self.get_new_class('%s')()"%field_type
+
+
+def constants_from_def(core_type, msg_def):
+    core_pkg, core_base_type = roslib.names.package_resource_name(core_type)
+
+    splits = msg_def.split('\n'+'='*80+'\n')
+    core_msg = splits[0]
+    deps_msgs = splits[1:]
+
+    # create MsgSpec representations of .msg text
+    specs = { core_type: roslib.msgs.load_from_string(core_msg, core_pkg) }
+    # - dependencies
+#    for dep_msg in deps_msgs:
+#        # dependencies require more handling to determine type name
+#        dep_type, dep_spec = _generate_dynamic_specs(specs, dep_msg)
+#        specs[dep_type] = dep_spec
+
+    return Set([(x.name, x.val, x.type) for x in specs[core_type].constants])