roslibrust_serde_rosmsg 0.3.0

A rosmsg serialization file format
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125

//! Perform tests with geometry_msgs/PoseArray

#[cfg(test)]
mod tests {
    use from_slice;
    use std::collections::HashMap;

    #[derive(Clone, Debug, Deserialize, PartialEq)]
    struct Position {
        x: f64,
        y: f64,
        z: f64,
    }

    #[derive(Clone, Debug, Deserialize, PartialEq)]
    struct Orientation {
        x: f64,
        y: f64,
        z: f64,
        w: f64,
    }

    #[derive(Clone, Debug, Deserialize, PartialEq)]
    struct Pose {
        position: Position,
        orientation: Orientation,
    }

    #[derive(Debug, Deserialize, PartialEq)]
    struct Time {
        secs: u32,
        nsecs: u32,
    }

    #[derive(Debug, Deserialize, PartialEq)]
    struct Header {
        id: u32,
        time: Time,
        frame_id: String,
    }

    #[derive(Debug, Deserialize, PartialEq)]
    struct Structure {
        header: Header,
        poses: Vec<Pose>,
    }

    #[test]
    fn reads_message() {
        let pose = Pose {
            position: Position {
                x: 1.0,
                y: 2.0,
                z: 3.0,
            },
            orientation: Orientation {
                x: 4.0,
                y: 5.0,
                z: 6.0,
                w: 7.0,
            },
        };
        assert_eq!(
            Structure {
                header: Header {
                    id: 1,
                    time: Time { secs: 0, nsecs: 0 },
                    frame_id: "ABC".into(),
                },
                poses: vec![
                    pose.clone(),
                    pose.clone(),
                    pose.clone(),
                    pose.clone(),
                    pose.clone()
                ],
            },
            from_slice(include_bytes!("pose_array_msg.bin")).unwrap()
        );
    }

    #[test]
    fn reads_request_header() {
        let header =
            from_slice::<HashMap<String, String>>(include_bytes!("pose_array_req.bin")).unwrap();
        assert_eq!(6, header.len());
        assert_eq!("/xax", header.get("topic").unwrap());
        assert_eq!("0", header.get("tcp_nodelay").unwrap());
        assert_eq!(
            &include_str!("pose_array_message_definition.txt").replace("\r", ""),
            header.get("message_definition").unwrap()
        );
        assert_eq!("geometry_msgs/PoseArray", header.get("type").unwrap());
        assert_eq!(
            "916c28c5764443f268b296bb671b9d97",
            header.get("md5sum").unwrap()
        );
        assert_eq!(
            "/rostopic_3051_1487462805714",
            header.get("callerid").unwrap()
        );
    }

    #[test]
    fn reads_response_header() {
        let header =
            from_slice::<HashMap<String, String>>(include_bytes!("pose_array_res.bin")).unwrap();
        assert_eq!(6, header.len());
        assert_eq!("/xax", header.get("topic").unwrap());
        assert_eq!("1", header.get("latching").unwrap());
        assert_eq!(
            &include_str!("pose_array_message_definition.txt").replace("\r", ""),
            header.get("message_definition").unwrap()
        );
        assert_eq!("geometry_msgs/PoseArray", header.get("type").unwrap());
        assert_eq!(
            "916c28c5764443f268b296bb671b9d97",
            header.get("md5sum").unwrap()
        );
        assert_eq!(
            "/rostopic_3078_1487462814794",
            header.get("callerid").unwrap()
        );
    }
}