roslibrust_serde_rosmsg 0.3.0

A rosmsg serialization file format
Documentation 
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//! Perform tests with geometry_msgs/PoseWithCovariance

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

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

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

    #[derive(Debug, Deserialize, PartialEq)]
    struct Structure {
        position: Position,
        orientation: Orientation,
        covariance: [[f64; 6]; 6],
    }

    #[test]
    fn reads_message() {
        assert_eq!(
            Structure {
                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,
                },
                covariance: [
                    [8.0, 9.0, 10.0, 11.0, 12.0, 13.0],
                    [14.0, 15.0, 16.0, 17.0, 18.0, 19.0],
                    [20.0, 21.0, 22.0, 23.0, 24.0, 25.0],
                    [26.0, 27.0, 28.0, 29.0, 30.0, 31.0],
                    [32.0, 33.0, 34.0, 35.0, 36.0, 37.0],
                    [38.0, 39.0, 40.0, 41.0, 42.0, 43.0]
                ],
            },
            from_slice(include_bytes!("pose_with_covariance_msg.bin")).unwrap()
        );
    }

    #[test]
    fn reads_request_header() {
        let header =
            from_slice::<HashMap<String, String>>(include_bytes!("pose_with_covariance_req.bin"))
                .unwrap();
        assert_eq!(6, header.len());
        assert_eq!("/woah", header.get("topic").unwrap());
        assert_eq!("0", header.get("tcp_nodelay").unwrap());
        assert_eq!(
            &include_str!("pose_with_covariance_message_definition.txt").replace("\r", ""),
            header.get("message_definition").unwrap()
        );
        assert_eq!(
            "geometry_msgs/PoseWithCovariance",
            header.get("type").unwrap()
        );
        assert_eq!(
            "c23e848cf1b7533a8d7c259073a97e6f",
            header.get("md5sum").unwrap()
        );
        assert_eq!(
            "/rostopic_8651_1487460349584",
            header.get("callerid").unwrap()
        );
    }

    #[test]
    fn reads_response_header() {
        let header =
            from_slice::<HashMap<String, String>>(include_bytes!("pose_with_covariance_res.bin"))
                .unwrap();
        assert_eq!(6, header.len());
        assert_eq!("/woah", header.get("topic").unwrap());
        assert_eq!("1", header.get("latching").unwrap());
        assert_eq!(
            &include_str!("pose_with_covariance_message_definition.txt").replace("\r", ""),
            header.get("message_definition").unwrap()
        );
        assert_eq!(
            "geometry_msgs/PoseWithCovariance",
            header.get("type").unwrap()
        );
        assert_eq!(
            "c23e848cf1b7533a8d7c259073a97e6f",
            header.get("md5sum").unwrap()
        );
        assert_eq!(
            "/rostopic_8959_1487460376004",
            header.get("callerid").unwrap()
        );
    }
}