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add bagfile migration rule for old atf_msgs prior to 2020-05 #189

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add bagfile migration rule for old atf_msgs prior to 2020-05 #189

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2 changes: 2 additions & 0 deletions atf_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@ project(atf_msgs)
find_package(catkin REQUIRED COMPONENTS
actionlib_msgs
message_generation
rosbag_migration_rule
std_msgs
)

Expand Down Expand Up @@ -49,6 +50,7 @@ catkin_package(
CATKIN_DEPENDS
actionlib_msgs
message_runtime
rosbag_migration_rule
std_msgs
)

Expand Down
284 changes: 284 additions & 0 deletions atf_msgs/migration_rules/rule202005.bmr.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,284 @@
class update_atf_msgs_MetricResult_438a6e6fcdba4c073c5c940bc183fe12(MessageUpdateRule):
old_type = "atf_msgs/MetricResult"
old_full_text = """
uint8 SNAP = 0
uint8 SPAN = 1

string name
uint8 mode
bool started
bool finished
DataStamped[] series
DataStamped data
DataStamped min
DataStamped max
float64 mean
float64 std
Groundtruth groundtruth
KeyValue[] details

================================================================================
MSG: atf_msgs/DataStamped
time stamp
float64 data

================================================================================
MSG: atf_msgs/Groundtruth
bool available
bool result
string error_message
float64 data
float64 epsilon

================================================================================
MSG: atf_msgs/KeyValue
string key
string value
"""

new_type = "atf_msgs/MetricResult"
new_full_text = """
uint8 SNAP = 0
uint8 SPAN_MEAN = 1
uint8 SPAN_MIN = 2
uint8 SPAN_ABSMIN = 3
uint8 SPAN_MAX = 4
uint8 SPAN_ABSMAX = 5

string name
string unit
uint8 mode
int8 status # ENUM from TestblockStatus
DataStamped[] series
DataStamped data
DataStamped min
DataStamped max
float64 mean
float64 std
Groundtruth groundtruth
KeyValue[] details

================================================================================
MSG: atf_msgs/DataStamped
time stamp
float64 data

================================================================================
MSG: atf_msgs/Groundtruth
# result status
int8 FAILED = -1
int8 UNSET = 0
int8 SUCCEEDED = 1

bool available
int8 result
string error_message
float64 data
float64 epsilon

================================================================================
MSG: atf_msgs/KeyValue
string key
string value
"""

order = 0
migrated_types = [
("DataStamped","DataStamped"),
("Groundtruth","Groundtruth"),
("KeyValue","KeyValue"),]

valid = True

def update(self, old_msg, new_msg):
#Constant 'SPAN' has changed
new_msg.name = old_msg.name
#No matching field name in old message
new_msg.unit = ''
new_msg.mode = old_msg.mode
#No matching field name in old message
new_msg.status = 0
self.migrate_array(old_msg.series, new_msg.series, "atf_msgs/DataStamped")
self.migrate(old_msg.data, new_msg.data)
self.migrate(old_msg.min, new_msg.min)
self.migrate(old_msg.max, new_msg.max)
new_msg.mean = old_msg.mean
new_msg.std = old_msg.std
self.migrate(old_msg.groundtruth, new_msg.groundtruth)
self.migrate_array(old_msg.details, new_msg.details, "atf_msgs/KeyValue")
#No field to match field started from old message
#No field to match field finished from old message
class update_atf_msgs_Groundtruth_adbb6bb4eb068fd5af7659b413397d10(MessageUpdateRule):
old_type = "atf_msgs/Groundtruth"
old_full_text = """
bool available
bool result
string error_message
float64 data
float64 epsilon
"""

new_type = "atf_msgs/Groundtruth"
new_full_text = """
# result status
int8 FAILED = -1
int8 UNSET = 0
int8 SUCCEEDED = 1

bool available
int8 result
string error_message
float64 data
float64 epsilon
"""

order = 0
migrated_types = []

valid = True

def update(self, old_msg, new_msg):
new_msg.available = old_msg.available
#Primitive type changed
if old_msg.result:
new_msg.result = 1
else:
new_msg.result = -1
new_msg.error_message = old_msg.error_message
new_msg.data = old_msg.data
new_msg.epsilon = old_msg.epsilon
class update_atf_msgs_TestblockStatus_361a3a189cc39d4afd9ca41fbafd986b(MessageUpdateRule):
old_type = "atf_msgs/TestblockStatus"
old_full_text = """
int8 INACTIVE = -1
int8 PURGED = 0
int8 ACTIVE = 1
int8 PAUSED = 2
int8 SUCCEEDED = 3
int8 ERROR = 4

time stamp
string name
int8 status
MetricResult user_result

================================================================================
MSG: atf_msgs/MetricResult
uint8 SNAP = 0
uint8 SPAN = 1

string name
uint8 mode
bool started
bool finished
DataStamped[] series
DataStamped data
DataStamped min
DataStamped max
float64 mean
float64 std
Groundtruth groundtruth
KeyValue[] details

================================================================================
MSG: atf_msgs/DataStamped
time stamp
float64 data

================================================================================
MSG: atf_msgs/Groundtruth
bool available
bool result
string error_message
float64 data
float64 epsilon

================================================================================
MSG: atf_msgs/KeyValue
string key
string value
"""

new_type = "atf_msgs/TestblockStatus"
new_full_text = """
int8 INACTIVE = 0
int8 ACTIVE = 1
int8 PAUSED = 2
int8 PURGED = 3
int8 SUCCEEDED = 4
int8 ERROR = 5

time stamp
string name
int8 status
MetricResult user_result

================================================================================
MSG: atf_msgs/MetricResult
uint8 SNAP = 0
uint8 SPAN_MEAN = 1
uint8 SPAN_MIN = 2
uint8 SPAN_ABSMIN = 3
uint8 SPAN_MAX = 4
uint8 SPAN_ABSMAX = 5

string name
string unit
uint8 mode
int8 status # ENUM from TestblockStatus
DataStamped[] series
DataStamped data
DataStamped min
DataStamped max
float64 mean
float64 std
Groundtruth groundtruth
KeyValue[] details

================================================================================
MSG: atf_msgs/DataStamped
time stamp
float64 data

================================================================================
MSG: atf_msgs/Groundtruth
# result status
int8 FAILED = -1
int8 UNSET = 0
int8 SUCCEEDED = 1

bool available
int8 result
string error_message
float64 data
float64 epsilon

================================================================================
MSG: atf_msgs/KeyValue
string key
string value
"""

order = 0
migrated_types = [
("MetricResult","MetricResult"),]

valid = True

def update(self, old_msg, new_msg):
#Constant 'SUCCEEDED' has changed
#Constant 'PURGED' has changed
#Constant 'INACTIVE' has changed
#Constant 'ERROR' has changed
new_msg.stamp = old_msg.stamp
new_msg.name = old_msg.name
status_dict = {
-1:0,
0:3,
1:1,
2:2,
3:4,
4:5
}
new_msg.status = status_dict[old_msg.status]
self.migrate(old_msg.user_result, new_msg.user_result)
6 changes: 6 additions & 0 deletions atf_msgs/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,12 @@
<exec_depend>message_runtime</exec_depend>

<depend>actionlib_msgs</depend>
<depend>rosbag_migration_rule</depend>
<depend>std_msgs</depend>

<export>
<architecture_independent/>
<rosbag migration_rule_file="migration_rules/rule202005.bmr.py"/>
</export>

</package>