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Using python file to declare test array and test them

tags/v0.3.2-rc2
haixuanTao 2 years ago
parent
9eecf22fee
commit
cf7c5552d1
4 changed files with 398 additions and 5 deletions
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  1. +15
    -5
      Cargo.lock
  2. +3
    -0
      libraries/extensions/ros2-bridge/python/Cargo.toml
  3. +96
    -0
      libraries/extensions/ros2-bridge/python/src/typed/mod.rs
  4. +284
    -0
      libraries/extensions/ros2-bridge/python/test_utils.py

+ 15
- 5
Cargo.lock View File

@@ -1424,7 +1424,7 @@ dependencies = [
"notify",
"serde",
"serde_json",
"serde_yaml 0.9.25",
"serde_yaml 0.9.30",
"termcolor",
"tokio",
"tokio-stream",
@@ -1461,7 +1461,7 @@ dependencies = [
"once_cell",
"serde",
"serde-with-expand-env",
"serde_yaml 0.9.25",
"serde_yaml 0.9.30",
"tokio",
"tracing",
"uuid",
@@ -1727,6 +1727,7 @@ dependencies = [
"futures",
"pyo3",
"serde",
"serde_assert",
]

[[package]]
@@ -4976,6 +4977,15 @@ dependencies = [
"shellexpand 2.1.2",
]

[[package]]
name = "serde_assert"
version = "0.7.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "92b7be0ad5a7b2eefaa5418eb141838270f1ad2d2c6e88acec3795d2425ffa97"
dependencies = [
"serde",
]

[[package]]
name = "serde_derive"
version = "1.0.195"
@@ -5035,9 +5045,9 @@ dependencies = [

[[package]]
name = "serde_yaml"
version = "0.9.25"
version = "0.9.30"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1a49e178e4452f45cb61d0cd8cebc1b0fafd3e41929e996cef79aa3aca91f574"
checksum = "b1bf28c79a99f70ee1f1d83d10c875d2e70618417fda01ad1785e027579d9d38"
dependencies = [
"indexmap 2.0.2",
"itoa",
@@ -6626,7 +6636,7 @@ dependencies = [
"num_cpus",
"serde",
"serde_json",
"serde_yaml 0.9.25",
"serde_yaml 0.9.30",
"validated_struct",
"zenoh-cfg-properties",
"zenoh-core",


+ 3
- 0
libraries/extensions/ros2-bridge/python/Cargo.toml View File

@@ -12,3 +12,6 @@ eyre = "0.6"
serde = "1.0.166"
arrow = { workspace = true, features = ["pyarrow"] }
futures = "0.3.28"

[dev-dependencies]
serde_assert = "0.7.1"

+ 96
- 0
libraries/extensions/ros2-bridge/python/src/typed/mod.rs View File

@@ -22,3 +22,99 @@ pub struct TypeInfo<'a> {
/// the CDR format of ROS2 does not encode struct or field
/// names.
const DUMMY_STRUCT_NAME: &str = "struct";

#[cfg(test)]
mod tests {
use std::path::PathBuf;

use crate::typed::deserialize::StructDeserializer;
use crate::typed::serialize;
use crate::typed::TypeInfo;
use crate::Ros2Context;

use arrow::array::make_array;
use arrow::pyarrow::FromPyArrow;
use arrow::pyarrow::ToPyArrow;

use pyo3::types::IntoPyDict;
use pyo3::types::PyDict;
use pyo3::types::PyList;
use pyo3::types::PyModule;
use pyo3::types::PyTuple;
use pyo3::Python;
use serde::de::DeserializeSeed;
use serde::Serialize;

use serde_assert::Serializer;
use serialize::TypedValue;

use eyre::{Context, Result};
use serde_assert::Deserializer;
#[test]
fn test_python_array_code() -> Result<()> {
pyo3::prepare_freethreaded_python();
let context = Ros2Context::new(None).context("Could not create a context")?;
let messages = context.messages.clone();
let serializer = Serializer::builder().build();

Python::with_gil(|py| -> Result<()> {
let path = PathBuf::from(env!("CARGO_MANIFEST_DIR")); //.join("test_utils.py"); // Adjust this path as needed

// Add the Python module's directory to sys.path
py.run(
"import sys; sys.path.append(str(path))",
Some([("path", path)].into_py_dict(py)),
None,
)?;

let my_module = PyModule::import(py, "test_utils")?;

let arrays: &PyList = my_module.getattr("TEST_ARRAYS")?.extract()?;
for array_wrapper in arrays.iter() {
let arrays: &PyTuple = array_wrapper.extract()?;
let package_name: String = arrays.get_item(0)?.extract()?;
let message_name: String = arrays.get_item(1)?.extract()?;
println!("Checking {}::{}", package_name, message_name);
let in_pyarrow = arrays.get_item(2)?;

let array = arrow::array::ArrayData::from_pyarrow(in_pyarrow)?;
let type_info = TypeInfo {
package_name: package_name.into(),
message_name: message_name.clone().into(),
messages: messages.clone(),
};
let typed_value = TypedValue {
value: &make_array(array.clone()),
type_info: &type_info.clone(),
};

let typed_deserializer =
StructDeserializer::new(std::borrow::Cow::Owned(type_info));
let tokens = typed_value.serialize(&serializer)?;
let mut deserializer = Deserializer::builder(tokens).build();

let out_value = typed_deserializer
.deserialize(&mut deserializer)
.context("could not deserialize array")?;

let out_pyarrow = out_value.to_pyarrow(py)?;

let test_utils = PyModule::import(py, "test_utils")?;
let context = PyDict::new(py);

context.set_item("test_utils", test_utils)?;
context.set_item("in_pyarrow", in_pyarrow)?;
context.set_item("out_pyarrow", out_pyarrow)?;

let _ = py
.eval(
"test_utils.is_subset(in_pyarrow, out_pyarrow)",
Some(context),
None,
)
.context("could not check if it is a subset")?;
}
Ok(())
})
}
}

+ 284
- 0
libraries/extensions/ros2-bridge/python/test_utils.py View File

@@ -0,0 +1,284 @@
import numpy as np
import pyarrow as pa


# Marker Message Example
TEST_ARRAYS = [
("std_msgs", "UInt8", pa.array([{"data": np.uint8(2)}])),
(
"std_msgs",
"String",
pa.array([{"data": "hello"}]),
),
(
"std_msgs",
"UInt8MultiArray",
pa.array(
[
{
"data": np.array([1, 2, 3, 4], np.uint8),
"layout": {
"dim": [
{
"label": "a",
"size": np.uint32(10),
"stride": np.uint32(20),
}
],
"data_offset": np.uint32(30),
},
}
]
),
),
(
"std_msgs",
"Float32MultiArray",
pa.array(
[
{
"data": np.array([1, 2, 3, 4], np.float32),
"layout": {
"dim": [
{
"label": "a",
"size": np.uint32(10),
"stride": np.uint32(20),
}
],
"data_offset": np.uint32(30),
},
}
]
),
),
(
"visualization_msgs",
"Marker",
pa.array(
[
{
"header": {
"frame_id": "world", # Placeholder value (String type, no numpy equivalent)
},
"ns": "my_namespace", # Placeholder value (String type, no numpy equivalent)
"id": np.int32(1), # Numpy type
"type": np.int32(0), # Numpy type (ARROW)
"action": np.int32(0), # Numpy type (ADD)
"lifetime": {
"sec": np.int32(1),
"nanosec": np.uint32(2),
}, # Numpy type
"pose": {
"position": {
"x": np.float64(1.0), # Numpy type
"y": np.float64(2.0), # Numpy type
"z": np.float64(3.0), # Numpy type
},
"orientation": {
"x": np.float64(0.0), # Numpy type
"y": np.float64(0.0), # Numpy type
"z": np.float64(0.0), # Numpy type
"w": np.float64(1.0), # Numpy type
},
},
"scale": {
"x": np.float64(1.0), # Numpy type
"y": np.float64(1.0), # Numpy type
"z": np.float64(1.0), # Numpy type
},
"color": {
"r": np.float32(1.0), # Numpy type
"g": np.float32(0.0), # Numpy type
"b": np.float32(0.0), # Numpy type
"a": np.float32(1.0), # Numpy type (alpha)
},
"frame_locked": False, # Boolean type, no numpy equivalent
"points": [ # Numpy array for points
{
"x": np.float64(1.0), # Numpy type
"y": np.float64(1.0), # Numpy type
"z": np.float64(1.0), # Numpy type
}
],
"colors": [
{
"r": np.float32(1.0), # Numpy type
"g": np.float32(1.0), # Numpy type
"b": np.float32(1.0), # Numpy type
"a": np.float32(1.0), # Numpy type (alpha)
} # Numpy array for colors
],
"texture_resource": "",
"uv_coordinates": [{}],
"text": "",
"mesh_resource": "",
"mesh_use_embedded_materials": False, # Boolean type, no numpy equivalent
}
]
),
),
(
"visualization_msgs",
"MarkerArray",
pa.array(
[
{
"markers": [
{
"header": {
"frame_id": "world", # Placeholder value (String type, no numpy equivalent)
},
"ns": "my_namespace", # Placeholder value (String type, no numpy equivalent)
"id": np.int32(1), # Numpy type
"type": np.int32(0), # Numpy type (ARROW)
"action": np.int32(0), # Numpy type (ADD)
"lifetime": {
"sec": np.int32(1),
"nanosec": np.uint32(2),
}, # Numpy type
"pose": {
"position": {
"x": np.float64(1.0), # Numpy type
"y": np.float64(2.0), # Numpy type
"z": np.float64(3.0), # Numpy type
},
"orientation": {
"x": np.float64(0.0), # Numpy type
"y": np.float64(0.0), # Numpy type
"z": np.float64(0.0), # Numpy type
"w": np.float64(1.0), # Numpy type
},
},
"scale": {
"x": np.float64(1.0), # Numpy type
"y": np.float64(1.0), # Numpy type
"z": np.float64(1.0), # Numpy type
},
"color": {
"r": np.float32(1.0), # Numpy type
"g": np.float32(0.0), # Numpy type
"b": np.float32(0.0), # Numpy type
"a": np.float32(1.0), # Numpy type (alpha)
},
"frame_locked": False, # Boolean type, no numpy equivalent
"points": [ # Numpy array for points
{
"x": np.float64(1.0), # Numpy type
"y": np.float64(1.0), # Numpy type
"z": np.float64(1.0), # Numpy type
}
],
"colors": [
{
"r": np.float32(1.0), # Numpy type
"g": np.float32(1.0), # Numpy type
"b": np.float32(1.0), # Numpy type
"a": np.float32(1.0), # Numpy type (alpha)
} # Numpy array for colors
],
"texture_resource": "",
"uv_coordinates": [{}],
"text": "",
"mesh_resource": "",
"mesh_use_embedded_materials": False, # Boolean type, no numpy equivalent
}
]
}
]
),
),
(
"visualization_msgs",
"ImageMarker",
pa.array(
[
{
"header": {
"stamp": {
"sec": np.int32(123456), # 32-bit integer
"nanosec": np.uint32(789), # 32-bit unsigned integer
},
"frame_id": "frame_example",
},
"ns": "namespace",
"id": np.int32(1), # 32-bit integer
"type": np.int32(0), # 32-bit integer, e.g., CIRCLE = 0
"action": np.int32(0), # 32-bit integer, e.g., ADD = 0
"position": {
"x": np.float64(1.0), # 32-bit float
"y": np.float64(2.0), # 32-bit float
"z": np.float64(3.0), # 32-bit float
},
"scale": np.float32(1.0), # 32-bit float
"outline_color": {
"r": np.float32(255.0), # 32-bit float
"g": np.float32(0.0), # 32-bit float
"b": np.float32(0.0), # 32-bit float
"a": np.float32(1.0), # 32-bit float
},
"filled": np.uint8(1), # 8-bit unsigned integer
"fill_color": {
"r": np.float32(0.0), # 32-bit float
"g": np.float32(255.0), # 32-bit float
"b": np.float32(0.0), # 32-bit float
"a": np.float32(1.0), # 32-bit float
},
"lifetime": {
"sec": np.int32(300), # 32-bit integer
"nanosec": np.uint32(0), # 32-bit unsigned integer
},
"points": [
{
"x": np.float64(1.0), # 32-bit float
"y": np.float64(2.0), # 32-bit float
"z": np.float64(3.0), # 32-bit float
},
{
"x": np.float64(4.0), # 32-bit float
"y": np.float64(5.0), # 32-bit float
"z": np.float64(6.0), # 32-bit float
},
],
"outline_colors": [
{
"r": np.float32(255.0), # 32-bit float
"g": np.float32(0.0), # 32-bit float
"b": np.float32(0.0), # 32-bit float
"a": np.float32(1.0), # 32-bit float
},
{
"r": np.float32(0.0), # 32-bit float
"g": np.float32(255.0), # 32-bit float
"b": np.float32(0.0), # 32-bit float
"a": np.float32(1.0), # 32-bit float
},
],
}
]
),
),
]


def is_subset(subset, superset):
"""
Check if subset is a subset of superset, to avoid false negatives linked to default values.
"""
if isinstance(subset, pa.Array):
return is_subset(subset.to_pylist(), superset.to_pylist())

match subset:
case dict(_):
return all(
key in superset and is_subset(val, superset[key])
for key, val in subset.items()
)
case list(_) | set(_):
return all(
any(is_subset(subitem, superitem) for superitem in superset)
for subitem in subset
)
# assume that subset is a plain value if none of the above match
case _:
return subset == superset

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