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ParseMessagesDataProvider.test.ts
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ParseMessagesDataProvider.test.ts
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/** @jest-environment jsdom */
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at http://mozilla.org/MPL/2.0/
//
// This file incorporates work covered by the following copyright and
// permission notice:
//
// Copyright 2018-2021 Cruise LLC
//
// This source code is licensed under the Apache License, Version 2.0,
// found at http://www.apache.org/licenses/LICENSE-2.0
// You may not use this file except in compliance with the License.
import BagDataProvider from "@foxglove-studio/app/dataProviders/BagDataProvider";
import ParseMessagesDataProvider from "@foxglove-studio/app/dataProviders/ParseMessagesDataProvider";
import { CoreDataProviders } from "@foxglove-studio/app/dataProviders/constants";
import createGetDataProvider from "@foxglove-studio/app/dataProviders/createGetDataProvider";
function getProvider() {
return new ParseMessagesDataProvider(
{},
[
{
name: CoreDataProviders.BagDataProvider,
args: {
bagPath: { type: "file", file: `${__dirname}/../test/fixtures/example.bag` },
},
children: [],
},
],
createGetDataProvider({ BagDataProvider }),
);
}
const dummyExtensionPoint = {
progressCallback() {
// no-op
},
reportMetadataCallback() {
// no-op
},
};
// prior to updating MemoryCacheDataProvider to lazy messages, ParseMessageDataProvider expended to query its child
// with rosBinaryMessages topics and do the parsing itself. Since MemoryCacheDataProvider uses lazy messages
// this is no longer necessary behavior and ParseMessageDataProvider is a passthrough.
describe.skip("ParseMessagesDataProvider", () => {
it("initializes", async () => {
const provider = getProvider();
const result = await provider.initialize(dummyExtensionPoint);
expect(result.start).toEqual({ sec: 1396293887, nsec: 844783943 });
expect(result.end).toEqual({ sec: 1396293909, nsec: 544870199 });
expect(result.topics).toContainOnly([
{ datatype: "rosgraph_msgs/Log", name: "/rosout", numMessages: 1 },
{ datatype: "turtlesim/Color", name: "/turtle1/color_sensor", numMessages: 1351 },
{ datatype: "tf2_msgs/TFMessage", name: "/tf_static", numMessages: 1 },
{ datatype: "turtlesim/Color", name: "/turtle2/color_sensor", numMessages: 1344 },
{ datatype: "turtlesim/Pose", name: "/turtle1/pose", numMessages: 1344 },
{ datatype: "turtlesim/Pose", name: "/turtle2/pose", numMessages: 1344 },
{ datatype: "tf/tfMessage", name: "/tf", numMessages: 1344 },
{ datatype: "geometry_msgs/Twist", name: "/turtle2/cmd_vel", numMessages: 208 },
{ datatype: "geometry_msgs/Twist", name: "/turtle1/cmd_vel", numMessages: 357 },
]);
const { messageDefinitions } = result;
if (messageDefinitions.type !== "parsed") {
throw new Error("ParseMessagesDataProvider should return parsed message definitions");
}
expect(Object.keys(messageDefinitions.datatypes)).toContainOnly([
"rosgraph_msgs/Log",
"std_msgs/Header",
"turtlesim/Color",
"tf2_msgs/TFMessage",
"geometry_msgs/TransformStamped",
"geometry_msgs/Transform",
"geometry_msgs/Vector3",
"geometry_msgs/Quaternion",
"turtlesim/Pose",
"tf/tfMessage",
"geometry_msgs/Twist",
]);
});
it("gets messages", async () => {
const provider = getProvider();
await provider.initialize(dummyExtensionPoint);
const start = { sec: 1396293887, nsec: 844783943 };
const end = { sec: 1396293888, nsec: 60000000 };
const messages = await provider.getMessages(start, end, {
parsedMessages: ["/tf"],
});
expect(messages.rosBinaryMessages).toBe(undefined);
expect(messages.parsedMessages).toHaveLength(2);
expect(
messages.parsedMessages?.map((event) => {
return {
topic: event.topic,
receiveTime: event.receiveTime,
message: JSON.parse(JSON.stringify(event.message)),
};
}),
).toEqual([
{
topic: "/tf",
receiveTime: {
sec: 1396293888,
nsec: 56251251,
},
message: {
transforms: [
{
child_frame_id: "turtle2",
header: { frame_id: "world", seq: 0, stamp: { nsec: 56065082, sec: 1396293888 } },
transform: {
rotation: { w: 1, x: 0, y: 0, z: 0 },
translation: { x: 4, y: 9.088889122009277, z: 0 },
},
},
],
},
},
{
message: {
transforms: [
{
child_frame_id: "turtle1",
header: { frame_id: "world", seq: 0, stamp: { nsec: 56102037, sec: 1396293888 } },
transform: {
rotation: { w: 1, x: 0, y: 0, z: 0 },
translation: { x: 5.544444561004639, y: 5.544444561004639, z: 0 },
},
},
],
},
receiveTime: { nsec: 56262848, sec: 1396293888 },
topic: "/tf",
},
]);
});
it("does not return parsed messages for binary-only requests", async () => {
const provider = getProvider();
await provider.initialize(dummyExtensionPoint);
const start = { sec: 1396293887, nsec: 844783943 };
const end = { sec: 1396293888, nsec: 60000000 };
const messages = await provider.getMessages(start, end, {
rosBinaryMessages: ["/tf"],
parsedMessages: [],
});
expect(messages.rosBinaryMessages).toBe(undefined);
expect(messages.parsedMessages).toEqual([]);
});
});