Adds tests for mcap export. #42
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Signed-off-by: Franco Cipollone <[email protected]>
test/export/mcap_test.py
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| def GetRoadNetwork(): | ||
| """ | ||
| Returns an arbitrary road network. | ||
| """ | ||
| # TODO(#12): Rely on a road network loader once that is implemented. | ||
| # Create road network model | ||
| env = os.getenv("MALIPUT_MALIDRIVE_RESOURCE_ROOT").split(":") | ||
| env = env[0] | ||
| rn_configuration = { | ||
| "opendrive_file": env + "/resources/odr/TShapeRoad.xodr" if env is not None else "", | ||
| "road_geometry_id": "TShapeRoadRoadNetwork" | ||
| } | ||
| maliput_road_network = create_road_network( | ||
| "maliput_malidrive", rn_configuration) | ||
| return maliput_road_network |
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My first approach was to mock the road network and to patch the call to maliput_sim.utils.obj.get_obj_description(road_network) (which happens within mcap exporter) for returning a known obj description instead of having to load up the road network.
For a reason that I don't know I couldn't make it work, the patch didn't work out, so I ended up loading up a road network.
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It's fine. We can revisit this in the future if required.
| # TODO: Check the content of the message. | ||
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| pose_msgs = list(reader.iter_decoded_messages( | ||
| topics=["/agent_1/pose"])) | ||
| # Pose msg isn't being published in first iteration. | ||
| self.assertEqual(len(pose_msgs), 2) | ||
| for schema, channel, message, proto_msg in pose_msgs: | ||
| self.assertEqual(schema.name, "foxglove.Pose") | ||
| # TODO: Check the content of the message. |
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I added some TODOs here for checking out the content of the message to verify that the content being written is the desired content. I plan to leave this to a follow PR to avoid delaying more on having this tested and to increse the LOC in this PR
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Sounds good. I recommend using a template that you simply match rather than verifying the contents of the message one by one.
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CI will fail until #41 is merged |
test/export/mcap_test.py
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| from mcap.reader import make_reader | ||
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| def GetRoadNetwork(): |
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| def GetRoadNetwork(): | |
| def get_road_network() -> maliput.api.RoadNetwork: |
test/export/mcap_test.py
Outdated
| def GetRoadNetwork(): | ||
| """ | ||
| Returns an arbitrary road network. | ||
| """ | ||
| # TODO(#12): Rely on a road network loader once that is implemented. | ||
| # Create road network model | ||
| env = os.getenv("MALIPUT_MALIDRIVE_RESOURCE_ROOT").split(":") | ||
| env = env[0] | ||
| rn_configuration = { | ||
| "opendrive_file": env + "/resources/odr/TShapeRoad.xodr" if env is not None else "", | ||
| "road_geometry_id": "TShapeRoadRoadNetwork" | ||
| } | ||
| maliput_road_network = create_road_network( | ||
| "maliput_malidrive", rn_configuration) | ||
| return maliput_road_network |
There was a problem hiding this comment.
It's fine. We can revisit this in the future if required.
| # TODO: Check the content of the message. | ||
|
|
||
| pose_msgs = list(reader.iter_decoded_messages( | ||
| topics=["/agent_1/pose"])) | ||
| # Pose msg isn't being published in first iteration. | ||
| self.assertEqual(len(pose_msgs), 2) | ||
| for schema, channel, message, proto_msg in pose_msgs: | ||
| self.assertEqual(schema.name, "foxglove.Pose") | ||
| # TODO: Check the content of the message. |
There was a problem hiding this comment.
Sounds good. I recommend using a template that you simply match rather than verifying the contents of the message one by one.
Signed-off-by: Franco Cipollone <[email protected]>
🎉 New feature
Related to #23
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