rosbag

// Copyright (c) 2018-present, Cruise LLC // This source code is licensed under the Apache License, Version 2.0, // found in the LICENSE file in the root directory of this source tree. // You may not use this file except in compliance with the License. import { parseMessageDefinition } from "./parseMessageDefinition"; describe("parseMessageDefinition", () => { it("parses a single field from a single message", () => { const types = parseMessageDefinition("string name", "foo_msgs/Bar"); expect(types).toEqual([ { definitions: [ { arrayLength: undefined, isArray: false, isComplex: false, name: "name", type: "string", }, ], name: "foo_msgs/Bar", }, ]); }); it("resolves unqualified names", () => { const messageDefinition = ` Point[] points ============ MSG: geometry_msgs/Point float64 x `; const types = parseMessageDefinition(messageDefinition, "geometry_msgs/Polygon"); expect(types).toEqual([ { definitions: [ { arrayLength: undefined, isArray: true, isComplex: true, name: "points", type: "geometry_msgs/Point", }, ], name: "geometry_msgs/Polygon", }, { definitions: [ { arrayLength: undefined, isArray: false, isComplex: false, name: "x", type: "float64", }, ], name: "geometry_msgs/Point", }, ]); }); it("resolves seemingly-ambiguous unqualified names", () => { const messageDefinition = ` Header header # doesn't say std_msgs, but we special-case it. Ambiguous m1 # refers to this_msgs/Ambiguous other_msgs/Other ============ MSG: other_msgs/Other Ambiguous # refers to other_msgs/Ambiguous ============ MSG: this_msgs/Ambiguous ============ MSG: other_msgs/Ambiguous ============ MSG: std_msgs/Header `; const types = parseMessageDefinition(messageDefinition, "this_msgs/Message"); expect(types).toEqual([ { definitions: [ { isArray: false, isComplex: true, name: "header", type: "std_msgs/Header" }, { isArray: false, isComplex: true, name: "m1", type: "this_msgs/Ambiguous" }, ], name: "this_msgs/Message", }, { definitions: [], name: "other_msgs/Other" }, { definitions: [], name: "this_msgs/Ambiguous" }, { definitions: [], name: "other_msgs/Ambiguous" }, { definitions: [], name: "std_msgs/Header" }, ]); }); it("normalizes aliases", () => { const types = parseMessageDefinition("char x\nbyte y", "foo_msgs/Bar"); expect(types).toEqual([ { definitions: [ { arrayLength: undefined, isArray: false, isComplex: false, name: "x", type: "uint8", }, { arrayLength: undefined, isArray: false, isComplex: false, name: "y", type: "int8", }, ], name: "foo_msgs/Bar", }, ]); }); it("ignores comment lines", () => { const messageDefinition = ` # your first name goes here string firstName # last name here ### foo bar baz? string lastName `; const types = parseMessageDefinition(messageDefinition, "foo_msgs/Bar"); expect(types).toEqual([ { definitions: [ { arrayLength: undefined, isArray: false, isComplex: false, name: "firstName", type: "string", }, { arrayLength: undefined, isArray: false, isComplex: false, name: "lastName", type: "string", }, ], name: "foo_msgs/Bar", }, ]); }); it("parses variable length string array", () => { const types = parseMessageDefinition("string[] names", "foo_msgs/Bar"); expect(types).toEqual([ { definitions: [ { arrayLength: undefined, isArray: true, isComplex: false, name: "names", type: "string", }, ], name: "foo_msgs/Bar", }, ]); }); it("parses fixed length string array", () => { const types = parseMessageDefinition("string[3] names", "foo_msgs/Bar"); expect(types).toEqual([ { definitions: [ { arrayLength: 3, isArray: true, isComplex: false, name: "names", type: "string", }, ], name: "foo_msgs/Bar", }, ]); }); it("parses nested complex types", () => { const messageDefinition = ` string username Account account ============ MSG: custom_type/Account string name uint16 id `; const types = parseMessageDefinition(messageDefinition, "custom_type/CustomMessage"); expect(types).toEqual([ { definitions: [ { arrayLength: undefined, isArray: false, isComplex: false, name: "username", type: "string", }, { arrayLength: undefined, isArray: false, isComplex: true, name: "account", type: "custom_type/Account", }, ], name: "custom_type/CustomMessage", }, { definitions: [ { arrayLength: undefined, isArray: false, isComplex: false, name: "name", type: "string", }, { arrayLength: undefined, isArray: false, isComplex: false, name: "id", type: "uint16", }, ], name: "custom_type/Account", }, ]); }); it("returns constants", () => { const messageDefinition = ` uint32 foo = 55 int32 bar=-11 # Comment # another comment float32 baz= \t -32.25 bool someBoolean = 0 string fooStr = Foo ${""} string EXAMPLE="#comments" are ignored, and leading and trailing whitespace removed `; const types = parseMessageDefinition(messageDefinition, "foo_msgs/Bar"); expect(types).toEqual([ { definitions: [ { name: "foo", type: "uint32", isConstant: true, value: 55, }, { name: "bar", type: "int32", isConstant: true, value: -11, }, { name: "baz", type: "float32", isConstant: true, value: -32.25, }, { name: "someBoolean", type: "bool", isConstant: true, value: false, }, { name: "fooStr", type: "string", isConstant: true, value: "Foo", }, { name: "EXAMPLE", type: "string", isConstant: true, value: '"#comments" are ignored, and leading and trailing whitespace removed', }, ], name: "foo_msgs/Bar", }, ]); }); it("works with python boolean values", () => { const messageDefinition = ` bool Alive=True bool Dead=False `; const types = parseMessageDefinition(messageDefinition, "foo_msgs/Bar"); expect(types).toEqual([ { definitions: [ { name: "Alive", type: "bool", isConstant: true, value: true, }, { name: "Dead", type: "bool", isConstant: true, value: false, }, ], name: "foo_msgs/Bar", }, ]); }); });