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Commit bb2a37be authored by Daniel Stonier's avatar Daniel Stonier
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message_generation_tests and rosjava_test_msgs moved back out - they 

need std_msg dependencies.
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.classpath
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− 1
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<?xml version="1.0" encoding="UTF-8"?>
<classpath>
<classpathentry kind="src" path="gradle_plugins/src/main/groovy"/>
<classpathentry kind="src" path="message_generation_tests/src/test/java"/>
<classpathentry kind="src" path="message_generation/src/main/java"/>
<classpathentry kind="lib" path="gradle/wrapper/gradle-wrapper.jar"/>
<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
......
message_generation/build.gradle
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......@@ -17,9 +17,6 @@
version='0.1.0'
dependencies {
/*
testCompile 'junit:junit:4.8.2'
*/
compile 'io.netty:netty:3.5.2.Final'
compile 'com.google.guava:guava:12.0'
compile 'org.apache.commons:com.springsource.org.apache.commons.codec:1.3.0'
......@@ -33,8 +30,7 @@ dependencies {
jar {
manifest {
version = '0.1.0'
symbolicName = 'org.ros.rosjava_messages.message_generator'
symbolicName = 'org.ros.rosjava_messages.message_generation'
}
}
message_generation/src/main/java/org/ros/internal/message/GenerateInterfaces.java
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......@@ -69,6 +69,7 @@ public class GenerateInterfaces {
packages = topicDefinitionFileProvider.getPackages();
}
for (String pkg : packages) {
System.out.println("Package: " + pkg);
Collection<MessageIdentifier> messageIdentifiers =
topicDefinitionFileProvider.getMessageIdentifiersByPackage(pkg);
if (messageIdentifiers != null) {
......
message_generation_tests/build.gradle deleted 100644 → 0
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/*
* Copyright (C) 2011 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/
version='0.1.0'
dependencies {
compile project(':gradle_plugins')
compile project(':rosjava_test_msgs')
}
jar {
manifest {
version = project.version
symbolicName = 'org.ros.rosjava_bootstrap.message_generation_tests'
}
}
message_generation_tests/src/test/java/org/ros/internal/message/Md5GeneratorTest.java deleted 100644 → 0
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/*
* Copyright (C) 2011 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/
package org.ros.internal.message;
import static org.junit.Assert.assertEquals;
import org.ros.internal.message.definition.MessageDefinitionProviderChain;
import org.junit.Before;
import org.junit.Test;
import org.ros.internal.message.service.ServiceDefinitionResourceProvider;
import org.ros.internal.message.service.ServiceDescription;
import org.ros.internal.message.service.ServiceDescriptionFactory;
import org.ros.internal.message.topic.TopicDefinitionResourceProvider;
import org.ros.internal.message.topic.TopicDescription;
import org.ros.internal.message.topic.TopicDescriptionFactory;
/**
* @author damonkohler@google.com (Damon Kohler)
*/
public class Md5GeneratorTest {
private TopicDescriptionFactory topicDescriptionFactory;
private ServiceDescriptionFactory serviceDescriptionFactory;
@Before
public void setUp() {
MessageDefinitionProviderChain messageDefinitionProviderChain =
new MessageDefinitionProviderChain();
messageDefinitionProviderChain
.addMessageDefinitionProvider(new TopicDefinitionResourceProvider());
messageDefinitionProviderChain
.addMessageDefinitionProvider(new ServiceDefinitionResourceProvider());
topicDescriptionFactory = new TopicDescriptionFactory(messageDefinitionProviderChain);
serviceDescriptionFactory = new ServiceDescriptionFactory(messageDefinitionProviderChain);
}
@Test
public void testPrimitives() {
TopicDescription topicDescription =
topicDescriptionFactory.newFromType("rosjava_test_msgs/TestPrimitives");
assertEquals("3e70f428a22c0d26ca67f87802c8e00f", topicDescription.getMd5Checksum());
}
@Test
public void testString() {
TopicDescription topicDescription = topicDescriptionFactory.newFromType("rosjava_test_msgs/TestString");
assertEquals("334ff4377be93faa44ebc66d23d40fd3", topicDescription.getMd5Checksum());
}
@Test
public void testHeader() {
TopicDescription topicDescription = topicDescriptionFactory.newFromType("rosjava_test_msgs/TestHeader");
assertEquals("4b5a00f536da2f756ba6aebcf795a967", topicDescription.getMd5Checksum());
}
@Test
public void testArrays() {
TopicDescription topicDescription = topicDescriptionFactory.newFromType("rosjava_test_msgs/TestArrays");
assertEquals("4cc9b5e2cebe791aa3e994f5bc159eb6", topicDescription.getMd5Checksum());
}
@Test
public void testComposite() {
TopicDescription topicDescription = topicDescriptionFactory.newFromType("rosjava_test_msgs/Composite");
assertEquals("d8fb6eb869ad3956b50e8737d96dc9fa", topicDescription.getMd5Checksum());
}
@Test
public void testOdometry() {
TopicDescription topicDescription = topicDescriptionFactory.newFromType("nav_msgs/Odometry");
assertEquals("cd5e73d190d741a2f92e81eda573aca7", topicDescription.getMd5Checksum());
}
@Test
public void testEmpty() {
ServiceDescription serviceDescription = serviceDescriptionFactory.newFromType("std_srvs/Empty");
assertEquals("d41d8cd98f00b204e9800998ecf8427e", serviceDescription.getMd5Checksum());
}
@Test
public void testAddTwoInts() {
ServiceDescription serviceDescription =
serviceDescriptionFactory.newFromType("rosjava_test_msgs/AddTwoInts");
assertEquals("6a2e34150c00229791cc89ff309fff21", serviceDescription.getMd5Checksum());
}
@Test
public void testTransitiveSrv() {
ServiceDescription serviceDescription =
serviceDescriptionFactory.newFromType("rosjava_test_msgspy/TransitiveSrv");
assertEquals("8b7918ee2b81eaf825f4c70de011f6fa", serviceDescription.getMd5Checksum());
}
}
message_generation_tests/src/test/java/org/ros/internal/message/MessageInterfaceBuilderTest.java deleted 100644 → 0
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/*
* Copyright (C) 2012 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/
package org.ros.internal.message;
import static org.junit.Assert.assertEquals;
import org.junit.Before;
import org.junit.Test;
import org.ros.internal.message.topic.TopicDefinitionResourceProvider;
import org.ros.message.MessageDeclaration;
import org.ros.message.MessageFactory;
/**
* @author damonkohler@google.com (Damon Kohler)
*/
public class MessageInterfaceBuilderTest {
private TopicDefinitionResourceProvider topicDefinitionResourceProvider;
private MessageFactory messageFactory;
@Before
public void before() {
topicDefinitionResourceProvider = new TopicDefinitionResourceProvider();
messageFactory = new DefaultMessageFactory(topicDefinitionResourceProvider);
}
@Test
public void testDuplicateFieldNames() {
MessageInterfaceBuilder builder = new MessageInterfaceBuilder();
builder.setPackageName("foo");
builder.setInterfaceName("bar");
builder.setMessageDeclaration(MessageDeclaration.of("foo/bar", "int32 foo\nint32 Foo"));
builder.setAddConstantsAndMethods(true);
String result = builder.build(messageFactory);
assertEquals("package foo;\n\n"
+ "public interface bar extends org.ros.internal.message.Message {\n"
+ " static final java.lang.String _TYPE = \"foo/bar\";\n"
+ " static final java.lang.String _DEFINITION = \"int32 foo\\nint32 Foo\";\n"
+ " int getFoo();\n" + " void setFoo(int value);\n" + "}\n", result);
}
}
message_generation_tests/src/test/java/org/ros/internal/message/MessageTest.java deleted 100644 → 0
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/*
* Copyright (C) 2011 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/
package org.ros.internal.message;
import static org.junit.Assert.assertEquals;
import com.google.common.collect.Lists;
import org.junit.Before;
import org.junit.Test;
import org.ros.internal.message.topic.TopicDefinitionResourceProvider;
import org.ros.message.MessageFactory;
/**
* @author damonkohler@google.com (Damon Kohler)
*/
public class MessageTest {
private TopicDefinitionResourceProvider topicDefinitionResourceProvider;
private MessageFactory messageFactory;
@Before
public void before() {
topicDefinitionResourceProvider = new TopicDefinitionResourceProvider();
messageFactory = new DefaultMessageFactory(topicDefinitionResourceProvider);
}
@Test
public void testCreateEmptyMessage() {
topicDefinitionResourceProvider.add("foo/foo", "");
messageFactory.newFromType("foo/foo");
}
@Test
public void testCreateEmptyMessageWithBlankLines() {
topicDefinitionResourceProvider.add("foo/foo", "\n\n\n\n\n");
messageFactory.newFromType("foo/foo");
}
@Test
public void testString() {
String data = "Hello, ROS!";
RawMessage rawMessage = messageFactory.newFromType("std_msgs/String");
rawMessage.setString("data", data);
assertEquals(data, rawMessage.getString("data"));
}
@Test
public void testStringWithComments() {
topicDefinitionResourceProvider.add("foo/foo", "# foo\nstring data\n # string other data");
String data = "Hello, ROS!";
RawMessage rawMessage = messageFactory.newFromType("foo/foo");
rawMessage.setString("data", data);
assertEquals(data, rawMessage.getString("data"));
}
@Test
public void testInt8() {
byte data = 42;
RawMessage rawMessage = messageFactory.newFromType("std_msgs/Int8");
rawMessage.setInt8("data", data);
assertEquals(data, rawMessage.getInt8("data"));
}
@Test
public void testNestedMessage() {
topicDefinitionResourceProvider.add("foo/foo", "bar data");
topicDefinitionResourceProvider.add("foo/bar", "int8 data");
RawMessage fooMessage = messageFactory.newFromType("foo/foo");
RawMessage barMessage = messageFactory.newFromType("foo/bar");
fooMessage.setMessage("data", barMessage);
byte data = 42;
barMessage.setInt8("data", data);
assertEquals(data, fooMessage.getMessage("data").toRawMessage().getInt8("data"));
}
@Test
public void testNestedMessageList() {
topicDefinitionResourceProvider.add("foo/foo", "bar[] data");
topicDefinitionResourceProvider.add("foo/bar", "int8 data");
RawMessage fooMessage = messageFactory.newFromType("foo/foo");
RawMessage barMessage = messageFactory.newFromType("foo/bar");
fooMessage.setMessageList("data", Lists.<Message>newArrayList(barMessage));
byte data = 42;
barMessage.toRawMessage().setInt8("data", data);
assertEquals(data, fooMessage.getMessageList("data").get(0).toRawMessage().getInt8("data"));
}
@Test
public void testConstantInt8() {
topicDefinitionResourceProvider.add("foo/foo", "int8 data=42");
RawMessage rawMessage = messageFactory.newFromType("foo/foo");
assertEquals(42, rawMessage.getInt8("data"));
}
@Test
public void testConstantString() {
topicDefinitionResourceProvider.add("foo/foo", "string data=Hello, ROS! # comment ");
RawMessage rawMessage = messageFactory.newFromType("foo/foo");
assertEquals("Hello, ROS! # comment", rawMessage.getString("data"));
}
public void testInt8List() {
topicDefinitionResourceProvider.add("foo/foo", "int8[] data");
RawMessage rawMessage = messageFactory.newFromType("foo/foo");
byte[] data = new byte[] { (byte) 1, (byte) 2, (byte) 3 };
rawMessage.setInt8Array("data", data);
assertEquals(data, rawMessage.getInt8Array("data"));
}
}
\ No newline at end of file
message_generation_tests/src/test/java/org/ros/internal/message/RawMessageSerializationTest.java deleted 100644 → 0
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/*
* Copyright (C) 2011 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/
package org.ros.internal.message;
import static org.junit.Assert.assertTrue;
import com.google.common.collect.Lists;
import org.jboss.netty.buffer.ChannelBuffer;
import org.junit.Before;
import org.junit.Test;
import org.ros.internal.message.topic.TopicDefinitionResourceProvider;
import org.ros.message.Duration;
import org.ros.message.MessageFactory;
import org.ros.message.Time;
/**
* @author damonkohler@google.com (Damon Kohler)
*/
public class RawMessageSerializationTest {
private TopicDefinitionResourceProvider topicDefinitionResourceProvider;
private MessageFactory messageFactory;
@Before
public void before() {
topicDefinitionResourceProvider = new TopicDefinitionResourceProvider();
messageFactory = new DefaultMessageFactory(topicDefinitionResourceProvider);
}
private void checkSerializeAndDeserialize(Message message) {
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
DefaultMessageSerializer serializer = new DefaultMessageSerializer();
serializer.serialize(message, buffer);
DefaultMessageDeserializer<RawMessage> deserializer =
new DefaultMessageDeserializer<RawMessage>(message.toRawMessage().getIdentifier(),
messageFactory);
RawMessage deserializedMessage = deserializer.deserialize(buffer);
assertTrue(message.equals(deserializedMessage));
}
@Test
public void testBool() {
RawMessage rawMessage = messageFactory.newFromType("std_msgs/Bool");
rawMessage.setBool("data", true);
checkSerializeAndDeserialize(rawMessage);
rawMessage.setBool("data", false);
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testInt8() {
RawMessage rawMessage = messageFactory.newFromType("std_msgs/Int8");
rawMessage.setInt8("data", (byte) 42);
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testUint8() {
RawMessage rawMessage = messageFactory.newFromType("std_msgs/UInt8");
rawMessage.setUInt8("data", (byte) 42);
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testInt16() {
RawMessage rawMessage = messageFactory.newFromType("std_msgs/Int16");
rawMessage.setInt16("data", (short) 42);
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testUInt16() {
RawMessage rawMessage = messageFactory.newFromType("std_msgs/UInt16");
rawMessage.setUInt16("data", (short) 42);
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testInt32() {
RawMessage rawMessage = messageFactory.newFromType("std_msgs/Int32");
rawMessage.setInt32("data", 42);
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testUInt32() {
RawMessage rawMessage = messageFactory.newFromType("std_msgs/UInt32");
rawMessage.setUInt32("data", 42);
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testInt64() {
RawMessage rawMessage = messageFactory.newFromType("std_msgs/Int64");
rawMessage.setInt64("data", 42);
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testUInt64() {
RawMessage rawMessage = messageFactory.newFromType("std_msgs/UInt64");
rawMessage.setUInt64("data", 42);
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testFloat32() {
RawMessage rawMessage = messageFactory.newFromType("std_msgs/Float32");
rawMessage.setFloat32("data", 42);
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testFloat64() {
RawMessage rawMessage = messageFactory.newFromType("std_msgs/Float64");
rawMessage.setFloat64("data", 42);
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testString() {
RawMessage rawMessage = messageFactory.newFromType("std_msgs/String");
rawMessage.setString("data", "Hello, ROS!");
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testTime() {
RawMessage rawMessage = messageFactory.newFromType("std_msgs/Time");
rawMessage.setTime("data", new Time());
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testDuration() {
RawMessage rawMessage = messageFactory.newFromType("std_msgs/Duration");
rawMessage.setDuration("data", new Duration());
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testNestedMessage() {
topicDefinitionResourceProvider.add("foo/foo", "std_msgs/String data");
RawMessage fooMessage = messageFactory.newFromType("foo/foo");
RawMessage stringMessage = messageFactory.newFromType("std_msgs/String");
stringMessage.setString("data", "Hello, ROS!");
fooMessage.setMessage("data", stringMessage);
checkSerializeAndDeserialize(fooMessage);
}
@Test
public void testNestedMessageArray() {
topicDefinitionResourceProvider.add("foo/foo", "std_msgs/String[] data");
RawMessage fooMessage = messageFactory.newFromType("foo/foo");
RawMessage stringMessageA = messageFactory.newFromType("std_msgs/String");
stringMessageA.setString("data", "Hello, ROS!");
RawMessage stringMessageB = messageFactory.newFromType("std_msgs/String");
stringMessageB.setString("data", "Goodbye, ROS!");
fooMessage.setMessageList("data", Lists.<Message>newArrayList(stringMessageA, stringMessageB));
checkSerializeAndDeserialize(fooMessage);
}
@Test
public void testChannelBuffer() {
topicDefinitionResourceProvider.add("foo/foo", "uint8[] data");
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
buffer.writeBytes(new byte[] { 1, 2, 3, 4, 5 });
RawMessage rawMessage = messageFactory.newFromType("foo/foo");
rawMessage.setChannelBuffer("data", buffer);
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testInt32Array() {
topicDefinitionResourceProvider.add("foo/foo", "int32[] data");
RawMessage rawMessage = messageFactory.newFromType("foo/foo");
rawMessage.setInt32Array("data", new int[] { 1, 2, 3, 4, 5 });
checkSerializeAndDeserialize(rawMessage);
}
@Test
public void testFloat64Array() {
topicDefinitionResourceProvider.add("foo/foo", "float64[] data");
RawMessage rawMessage = messageFactory.newFromType("foo/foo");
rawMessage.setFloat64Array("data", new double[] { 1, 2, 3, 4, 5 });
checkSerializeAndDeserialize(rawMessage);
}
}
message_generation_tests/src/test/java/org/ros/internal/message/ServiceTest.java deleted 100644 → 0
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− 51
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/*
* Copyright (C) 2011 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/
package org.ros.internal.message;
import org.junit.Before;
import org.junit.Test;
import org.ros.internal.message.service.ServiceDefinitionResourceProvider;
import org.ros.internal.message.service.ServiceRequestMessageFactory;
import org.ros.internal.message.service.ServiceResponseMessageFactory;
/**
* @author damonkohler@google.com (Damon Kohler)
*/
public class ServiceTest {
private ServiceDefinitionResourceProvider serviceDefinitionResourceProvider;
private ServiceRequestMessageFactory serviceRequestMessageFactory;
private ServiceResponseMessageFactory serviceResponseMessageFactory;
@Before
public void setUp() {
serviceDefinitionResourceProvider = new ServiceDefinitionResourceProvider();
serviceDefinitionResourceProvider.add("foo/Echo", "string data\n---\nstring data");
serviceRequestMessageFactory =
new ServiceRequestMessageFactory(serviceDefinitionResourceProvider);
serviceResponseMessageFactory =
new ServiceResponseMessageFactory(serviceDefinitionResourceProvider);
}
@Test
public void testCreateEchoService() {
RawMessage request = serviceRequestMessageFactory.newFromType("foo/Echo");
RawMessage response = serviceResponseMessageFactory.newFromType("foo/Echo");
request.setString("data", "Hello, ROS!");
response.setString("data", "Hello, ROS!");
}
}
message_generation_tests/src/test/java/org/ros/internal/message/field/ArrayFieldTest.java deleted 100644 → 0
+ 0
− 272
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/*
* Copyright (C) 2012 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/
package org.ros.internal.message.field;
import static org.junit.Assert.assertArrayEquals;
import static org.junit.Assert.assertEquals;
import org.ros.internal.message.MessageBuffers;
import org.jboss.netty.buffer.ChannelBuffer;
import org.junit.Test;
/**
* The following unit tests were created by inspecting the serialization of
* array fields using the ROS Python client library.
*
* @author damonkohler@google.com (Damon Kohler)
*/
public class ArrayFieldTest {
@Test
public void testBooleanArrayFieldVariableSize() {
BooleanArrayField field = BooleanArrayField.newVariable("foo", -1);
boolean[] value = new boolean[] { true, false, true, false };
field.setValue(value);
assertEquals(PrimitiveFieldType.BOOL, field.getType());
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
field.serialize(buffer);
byte[] expected = new byte[] { 4, 0, 0, 0, 1, 0, 1, 0 };
byte[] actual = new byte[buffer.readableBytes()];
buffer.readBytes(actual);
assertArrayEquals(expected, actual);
}
@Test
public void testBooleanArrayFieldFixedSize() {
BooleanArrayField field = BooleanArrayField.newVariable("foo", 4);
field.setValue(new boolean[] { true, false, true, false });
assertEquals(PrimitiveFieldType.BOOL, field.getType());
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
field.serialize(buffer);
byte[] expected = new byte[] { 1, 0, 1, 0 };
byte[] actual = new byte[buffer.readableBytes()];
buffer.readBytes(actual);
assertArrayEquals(expected, actual);
}
@SuppressWarnings("deprecation")
@Test
public void testByteArrayFieldVariableSize() {
testByteArrayFieldVariableSize(PrimitiveFieldType.INT8);
testByteArrayFieldVariableSize(PrimitiveFieldType.BYTE);
testByteArrayFieldVariableSize(PrimitiveFieldType.UINT8);
testByteArrayFieldVariableSize(PrimitiveFieldType.CHAR);
}
private void testByteArrayFieldVariableSize(FieldType type) {
ByteArrayField field = ByteArrayField.newVariable(type, "foo", -1);
field.setValue(new byte[] { 1, 2, 3, 4 });
assertEquals(type, field.getType());
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
field.serialize(buffer);
byte[] expected = new byte[] { 4, 0, 0, 0, 1, 2, 3, 4 };
byte[] actual = new byte[buffer.readableBytes()];
buffer.readBytes(actual);
assertArrayEquals(expected, actual);
}
@SuppressWarnings("deprecation")
@Test
public void testByteArrayFieldFixedSize() {
testByteArrayFieldFixedSize(PrimitiveFieldType.INT8);
testByteArrayFieldFixedSize(PrimitiveFieldType.BYTE);
testByteArrayFieldFixedSize(PrimitiveFieldType.UINT8);
testByteArrayFieldFixedSize(PrimitiveFieldType.CHAR);
}
private void testByteArrayFieldFixedSize(FieldType type) {
ByteArrayField field = ByteArrayField.newVariable(type, "foo", 4);
field.setValue(new byte[] { 1, 2, 3, 4 });
assertEquals(type, field.getType());
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
field.serialize(buffer);
byte[] expected = new byte[] { 1, 2, 3, 4 };
byte[] actual = new byte[buffer.readableBytes()];
buffer.readBytes(actual);
assertArrayEquals(expected, actual);
}
@Test
public void testDoubleArrayFieldVariableSize() {
DoubleArrayField field = DoubleArrayField.newVariable("foo", -1);
field.setValue(new double[] { 1, 2, 3, 4 });
assertEquals(PrimitiveFieldType.FLOAT64, field.getType());
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
field.serialize(buffer);
byte[] expected =
new byte[] { 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, -16, 63, 0, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0, 0, 0,
0, 8, 64, 0, 0, 0, 0, 0, 0, 16, 64 };
byte[] actual = new byte[buffer.readableBytes()];
buffer.readBytes(actual);
assertArrayEquals(expected, actual);
}
@Test
public void testDoubleArrayFieldFixedSize() {
DoubleArrayField field = DoubleArrayField.newVariable("foo", 4);
field.setValue(new double[] { 1, 2, 3, 4 });
assertEquals(PrimitiveFieldType.FLOAT64, field.getType());
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
field.serialize(buffer);
byte[] expected =
new byte[] { 0, 0, 0, 0, 0, 0, -16, 63, 0, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0, 0, 0, 0, 8, 64,
0, 0, 0, 0, 0, 0, 16, 64 };
byte[] actual = new byte[buffer.readableBytes()];
buffer.readBytes(actual);
assertArrayEquals(expected, actual);
}
@Test
public void testFloatArrayFieldVariableSize() {
FloatArrayField field = FloatArrayField.newVariable("foo", -1);
field.setValue(new float[] { 1, 2, 3, 4 });
assertEquals(PrimitiveFieldType.FLOAT32, field.getType());
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
field.serialize(buffer);
byte[] expected =
new byte[] { 4, 0, 0, 0, 0, 0, -128, 63, 0, 0, 0, 64, 0, 0, 64, 64, 0, 0, -128, 64 };
byte[] actual = new byte[buffer.readableBytes()];
buffer.readBytes(actual);
assertArrayEquals(expected, actual);
}
@Test
public void testFloatArrayFieldFixedSize() {
FloatArrayField field = FloatArrayField.newVariable("foo", 4);
field.setValue(new float[] { 1, 2, 3, 4 });
assertEquals(PrimitiveFieldType.FLOAT32, field.getType());
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
field.serialize(buffer);
byte[] expected = new byte[] { 0, 0, -128, 63, 0, 0, 0, 64, 0, 0, 64, 64, 0, 0, -128, 64 };
byte[] actual = new byte[buffer.readableBytes()];
buffer.readBytes(actual);
assertArrayEquals(expected, actual);
}
@Test
public void testIntegerArrayFieldVariableSize() {
testIntegerArrayFieldVariableSize(PrimitiveFieldType.INT32);
testIntegerArrayFieldVariableSize(PrimitiveFieldType.UINT32);
}
private void testIntegerArrayFieldVariableSize(FieldType type) {
IntegerArrayField field = IntegerArrayField.newVariable(type, "foo", -1);
field.setValue(new int[] { 1, 2, 3, 4 });
assertEquals(type, field.getType());
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
field.serialize(buffer);
byte[] expected = new byte[] { 4, 0, 0, 0, 1, 0, 0, 0, 2, 0, 0, 0, 3, 0, 0, 0, 4, 0, 0, 0 };
byte[] actual = new byte[buffer.readableBytes()];
buffer.readBytes(actual);
assertArrayEquals(expected, actual);
}
@Test
public void testIntegerArrayFieldFixedSize() {
testIntegerArrayFieldFixedSize(PrimitiveFieldType.INT32);
testIntegerArrayFieldFixedSize(PrimitiveFieldType.UINT32);
}
private void testIntegerArrayFieldFixedSize(FieldType type) {
IntegerArrayField field = IntegerArrayField.newVariable(type, "foo", 4);
field.setValue(new int[] { 1, 2, 3, 4 });
assertEquals(type, field.getType());
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
field.serialize(buffer);
byte[] expected = new byte[] { 1, 0, 0, 0, 2, 0, 0, 0, 3, 0, 0, 0, 4, 0, 0, 0 };
byte[] actual = new byte[buffer.readableBytes()];
buffer.readBytes(actual);
assertArrayEquals(expected, actual);
}
@Test
public void testLongArrayFieldVariableSize() {
testLongArrayFieldVariableSize(PrimitiveFieldType.INT64);
testLongArrayFieldVariableSize(PrimitiveFieldType.UINT64);
}
private void testLongArrayFieldVariableSize(FieldType type) {
LongArrayField field = LongArrayField.newVariable(type, "foo", -1);
field.setValue(new long[] { 1, 2, 3, 4 });
assertEquals(type, field.getType());
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
field.serialize(buffer);
byte[] expected =
new byte[] { 4, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 0, 0, 3, 0, 0, 0, 0, 0,
0, 0, 4, 0, 0, 0, 0, 0, 0, 0 };
byte[] actual = new byte[buffer.readableBytes()];
buffer.readBytes(actual);
assertArrayEquals(expected, actual);
}
@Test
public void testLongArrayFieldFixedSize() {
testLongArrayFieldFixedSize(PrimitiveFieldType.INT64);
testLongArrayFieldFixedSize(PrimitiveFieldType.UINT64);
}
private void testLongArrayFieldFixedSize(FieldType type) {
LongArrayField field = LongArrayField.newVariable(type, "foo", 4);
field.setValue(new long[] { 1, 2, 3, 4 });
assertEquals(type, field.getType());
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
field.serialize(buffer);
byte[] expected =
new byte[] { 1, 0, 0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 0, 0, 3, 0, 0, 0, 0, 0, 0, 0, 4, 0,
0, 0, 0, 0, 0, 0 };
byte[] actual = new byte[buffer.readableBytes()];
buffer.readBytes(actual);
assertArrayEquals(expected, actual);
}
@Test
public void testShortArrayFieldVariableSize() {
testShortArrayFieldVariableSize(PrimitiveFieldType.INT16);
testShortArrayFieldVariableSize(PrimitiveFieldType.UINT16);
}
private void testShortArrayFieldVariableSize(FieldType type) {
ShortArrayField field = ShortArrayField.newVariable(type, "foo", -1);
field.setValue(new short[] { 1, 2, 3, 4 });
assertEquals(type, field.getType());
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
field.serialize(buffer);
byte[] expected = new byte[] { 4, 0, 0, 0, 1, 0, 2, 0, 3, 0, 4, 0 };
byte[] actual = new byte[buffer.readableBytes()];
buffer.readBytes(actual);
assertArrayEquals(expected, actual);
}
@Test
public void testShortArrayFieldFixedSize() {
testShortArrayFieldFixedSize(PrimitiveFieldType.INT16);
testShortArrayFieldFixedSize(PrimitiveFieldType.UINT16);
}
private void testShortArrayFieldFixedSize(FieldType type) {
ShortArrayField field = ShortArrayField.newVariable(type, "foo", 4);
field.setValue(new short[] { 1, 2, 3, 4 });
assertEquals(type, field.getType());
ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
field.serialize(buffer);
byte[] expected = new byte[] { 1, 0, 2, 0, 3, 0, 4, 0 };
byte[] actual = new byte[buffer.readableBytes()];
buffer.readBytes(actual);
assertArrayEquals(expected, actual);
}
}
message_generation_tests/src/test/java/org/ros/message/DurationTest.java deleted 100644 → 0
+ 0
− 97
View file @ 2e2caca8
/*
* Copyright (C) 2011 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/
package org.ros.message;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import org.junit.Before;
import org.junit.Test;
/**
* @author kwc@willowgarage.com (Ken Conley)
*/
public class DurationTest {
@Before
public void setUp() {
}
@Test
public void testConstructor() {
// Test no args constructor.
Duration t = new Duration();
assertEquals(0, t.nsecs);
assertEquals(0, t.secs);
// Test secs/nsecs constructor with no normalization.
t = new Duration(1, 2);
assertEquals(1, t.secs);
assertEquals(2, t.nsecs);
// Test secs/nsecs constructor with normalization.
t = new Duration(2, -1);
assertEquals(1, t.secs);
assertEquals(1000000000 - 1, t.nsecs);
t = new Duration(2, 1000000000 + 2);
assertEquals(3, t.secs);
assertEquals(2, t.nsecs);
}
@Test
public void testNormalize() {
Duration d = new Duration(0, 0);
d.secs = 1;
d.nsecs = 1000000000;
d.normalize();
assertEquals(2, d.secs);
assertEquals(0, d.nsecs);
d.secs = 1;
d.nsecs = -1;
d.normalize();
assertEquals(0, d.secs);
assertEquals(1000000000-1, d.nsecs);
}
@Test
public void testIsZero() {
assertTrue(new Duration(0, 0).isZero());
assertFalse(new Duration(1, 0).isZero());
assertFalse(new Duration(0, 1).isZero());
}
@Test
public void testComparable() {
assertEquals(0, new Duration(0, 0).compareTo(new Duration(0, 0)));
assertEquals(0, new Duration(1, 0).compareTo(new Duration(1, 0)));
assertTrue(new Duration(0, 0).compareTo(new Duration(0, -1)) > 0);
assertTrue(new Duration(0, -1).compareTo(new Duration(0, 0)) < 0);
assertTrue(new Duration(0, 0).compareTo(new Duration(-1, 0)) > 0);
assertTrue(new Duration(-1, 0).compareTo(new Duration(0, 0)) < 0);
assertTrue(new Duration(1, 0).compareTo(new Duration(0, 0)) > 0);
assertTrue(new Duration(0, 0).compareTo(new Duration(1, 0)) < 0);
assertTrue(new Duration(0, 1).compareTo(new Duration(0, 0)) > 0);
assertTrue(new Duration(0, 0).compareTo(new Duration(0, 1)) < 0);
}
}
\ No newline at end of file
message_generation_tests/src/test/java/org/ros/message/TimeTest.java deleted 100644 → 0
+ 0
− 102
View file @ 2e2caca8
/*
* Copyright (C) 2011 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/
package org.ros.message;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import org.junit.Before;
import org.junit.Test;
/**
* @author kwc@willowgarage.com (Ken Conley)
*/
public class TimeTest {
@Before
public void setUp() {
}
@Test
public void testConstructor() {
// Test no args constructor.
Time t = new Time();
assertEquals(0, t.nsecs);
assertEquals(0, t.secs);
// Test secs/nsecs constructor with no normalization.
t = new Time(1, 2);
assertEquals(1, t.secs);
assertEquals(2, t.nsecs);
// Test secs/nsecs constructor with normalization.
t = new Time(2, -1);
assertEquals(1, t.secs);
assertEquals(1000000000 - 1, t.nsecs);
t = new Time(2, 1000000000 + 2);
assertEquals(3, t.secs);
assertEquals(2, t.nsecs);
}
@Test
public void testFromMillis() {
assertEquals(new Time(0, 0), Time.fromMillis(0));
assertEquals(new Time(0, 1000000), Time.fromMillis(1));
assertEquals(new Time(1, 0), Time.fromMillis(1000));
assertEquals(new Time(10, 0), Time.fromMillis(10000));
assertEquals(new Time(1, 1000000), Time.fromMillis(1001));
assertEquals(new Time(1, 11000000), Time.fromMillis(1011));
}
@Test
public void testNormalize() {
Time t = new Time(0, 0);
t.secs = 1;
t.nsecs = 1000000000;
t.normalize();
assertEquals(2, t.secs);
assertEquals(0, t.nsecs);
t.secs = 1;
t.nsecs = -1;
t.normalize();
assertEquals(0, t.secs);
assertEquals(1000000000 - 1, t.nsecs);
}
@Test
public void testIsZero() {
assertTrue(new Time(0, 0).isZero());
assertFalse(new Time(1, 0).isZero());
assertFalse(new Time(0, 1).isZero());
}
@Test
public void testComparable() {
assertEquals(0, new Time(0, 0).compareTo(new Time(0, 0)));
assertEquals(0, new Time(1, 1).compareTo(new Time(1, 1)));
assertTrue(new Time(0, 1).compareTo(new Time(0, 0)) > 0);
assertEquals(-1, new Time(0, 0).compareTo(new Time(0, 1)));
assertTrue(new Time(0, 0).compareTo(new Time(0, 1)) < 0);
assertTrue(new Time(1, 0).compareTo(new Time(0, 0)) > 0);
assertTrue(new Time(0, 0).compareTo(new Time(1, 0)) < 0);
}
}
\ No newline at end of file
message_generation_tests/src/test/resources/geometry_msgs/msg/Point.msg deleted 100644 → 0
+ 0
− 4
View file @ 2e2caca8
# This contains the position of a point in free space
float64 x
float64 y
float64 z
message_generation_tests/src/test/resources/geometry_msgs/msg/Pose.msg deleted 100644 → 0
+ 0
− 3
View file @ 2e2caca8
# A representation of pose in free space, composed of postion and orientation.
Point position
Quaternion orientation
message_generation_tests/src/test/resources/geometry_msgs/msg/PoseWithCovariance.msg deleted 100644 → 0
+ 0
− 9
View file @ 2e2caca8
# This represents a pose in free space with uncertainty.
Pose pose
# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance
message_generation_tests/src/test/resources/geometry_msgs/msg/Quaternion.msg deleted 100644 → 0
+ 0
− 6
View file @ 2e2caca8
# This represents an orientation in free space in quaternion form.
float64 x
float64 y
float64 z
float64 w
message_generation_tests/src/test/resources/geometry_msgs/msg/Twist.msg deleted 100644 → 0
+ 0
− 3
View file @ 2e2caca8
# This expresses velocity in free space broken into it's linear and angular parts.
Vector3 linear
Vector3 angular
message_generation_tests/src/test/resources/geometry_msgs/msg/TwistWithCovariance.msg deleted 100644 → 0
+ 0
− 9
View file @ 2e2caca8
# This expresses velocity in free space with uncertianty.
Twist twist
# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance
message_generation_tests/src/test/resources/geometry_msgs/msg/Vector3.msg deleted 100644 → 0
+ 0
− 5
View file @ 2e2caca8
# This represents a vector in free space.
float64 x
float64 y
float64 z
\ No newline at end of file
message_generation_tests/src/test/resources/nav_msgs/msg/Odometry.msg deleted 100644 → 0
+ 0
− 7
View file @ 2e2caca8
# This represents an estimate of a position and velocity in free space.
# The pose in this message should be specified in the coordinate frame given by header.frame_id.
# The twist in this message should be specified in the coordinate frame given by the child_frame_id
Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist
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