import numpy as np import pyarrow as pa # Marker Message Example TEST_ARRAYS = [ ("std_msgs", "UInt8", pa.array([{"data": np.uint8(2)}])), ( "std_msgs", "String", pa.array([{"data": "hello"}]), ), ( "std_msgs", "UInt8MultiArray", pa.array( [ { "data": np.array([1, 2, 3, 4], np.uint8), "layout": { "dim": [ { "label": "a", "size": np.uint32(10), "stride": np.uint32(20), } ], "data_offset": np.uint32(30), }, } ] ), ), ( "std_msgs", "Float32MultiArray", pa.array( [ { "data": np.array([1, 2, 3, 4], np.float32), "layout": { "dim": [ { "label": "a", "size": np.uint32(10), "stride": np.uint32(20), } ], "data_offset": np.uint32(30), }, } ] ), ), ( "visualization_msgs", "Marker", pa.array( [ { "header": { "frame_id": "world", # Placeholder value (String type, no numpy equivalent) }, "ns": "my_namespace", # Placeholder value (String type, no numpy equivalent) "id": np.int32(1), # Numpy type "type": np.int32(0), # Numpy type (ARROW) "action": np.int32(0), # Numpy type (ADD) "lifetime": { "sec": np.int32(1), "nanosec": np.uint32(2), }, # Numpy type "pose": { "position": { "x": np.float64(1.0), # Numpy type "y": np.float64(2.0), # Numpy type "z": np.float64(3.0), # Numpy type }, "orientation": { "x": np.float64(0.0), # Numpy type "y": np.float64(0.0), # Numpy type "z": np.float64(0.0), # Numpy type "w": np.float64(1.0), # Numpy type }, }, "scale": { "x": np.float64(1.0), # Numpy type "y": np.float64(1.0), # Numpy type "z": np.float64(1.0), # Numpy type }, "color": { "r": np.float32(1.0), # Numpy type "g": np.float32(0.0), # Numpy type "b": np.float32(0.0), # Numpy type "a": np.float32(1.0), # Numpy type (alpha) }, "frame_locked": False, # Boolean type, no numpy equivalent "points": [ # Numpy array for points { "x": np.float64(1.0), # Numpy type "y": np.float64(1.0), # Numpy type "z": np.float64(1.0), # Numpy type } ], "colors": [ { "r": np.float32(1.0), # Numpy type "g": np.float32(1.0), # Numpy type "b": np.float32(1.0), # Numpy type "a": np.float32(1.0), # Numpy type (alpha) } # Numpy array for colors ], "texture_resource": "", "uv_coordinates": [{}], "text": "", "mesh_resource": "", "mesh_use_embedded_materials": False, # Boolean type, no numpy equivalent } ] ), ), ( "visualization_msgs", "MarkerArray", pa.array( [ { "markers": [ { "header": { "frame_id": "world", # Placeholder value (String type, no numpy equivalent) }, "ns": "my_namespace", # Placeholder value (String type, no numpy equivalent) "id": np.int32(1), # Numpy type "type": np.int32(0), # Numpy type (ARROW) "action": np.int32(0), # Numpy type (ADD) "lifetime": { "sec": np.int32(1), "nanosec": np.uint32(2), }, # Numpy type "pose": { "position": { "x": np.float64(1.0), # Numpy type "y": np.float64(2.0), # Numpy type "z": np.float64(3.0), # Numpy type }, "orientation": { "x": np.float64(0.0), # Numpy type "y": np.float64(0.0), # Numpy type "z": np.float64(0.0), # Numpy type "w": np.float64(1.0), # Numpy type }, }, "scale": { "x": np.float64(1.0), # Numpy type "y": np.float64(1.0), # Numpy type "z": np.float64(1.0), # Numpy type }, "color": { "r": np.float32(1.0), # Numpy type "g": np.float32(0.0), # Numpy type "b": np.float32(0.0), # Numpy type "a": np.float32(1.0), # Numpy type (alpha) }, "frame_locked": False, # Boolean type, no numpy equivalent "points": [ # Numpy array for points { "x": np.float64(1.0), # Numpy type "y": np.float64(1.0), # Numpy type "z": np.float64(1.0), # Numpy type } ], "colors": [ { "r": np.float32(1.0), # Numpy type "g": np.float32(1.0), # Numpy type "b": np.float32(1.0), # Numpy type "a": np.float32(1.0), # Numpy type (alpha) } # Numpy array for colors ], "texture_resource": "", "uv_coordinates": [{}], "text": "", "mesh_resource": "", "mesh_use_embedded_materials": False, # Boolean type, no numpy equivalent } ] } ] ), ), ( "visualization_msgs", "ImageMarker", pa.array( [ { "header": { "stamp": { "sec": np.int32(123456), # 32-bit integer "nanosec": np.uint32(789), # 32-bit unsigned integer }, "frame_id": "frame_example", }, "ns": "namespace", "id": np.int32(1), # 32-bit integer "type": np.int32(0), # 32-bit integer, e.g., CIRCLE = 0 "action": np.int32(0), # 32-bit integer, e.g., ADD = 0 "position": { "x": np.float64(1.0), # 32-bit float "y": np.float64(2.0), # 32-bit float "z": np.float64(3.0), # 32-bit float }, "scale": np.float32(1.0), # 32-bit float "outline_color": { "r": np.float32(255.0), # 32-bit float "g": np.float32(0.0), # 32-bit float "b": np.float32(0.0), # 32-bit float "a": np.float32(1.0), # 32-bit float }, "filled": np.uint8(1), # 8-bit unsigned integer "fill_color": { "r": np.float32(0.0), # 32-bit float "g": np.float32(255.0), # 32-bit float "b": np.float32(0.0), # 32-bit float "a": np.float32(1.0), # 32-bit float }, "lifetime": { "sec": np.int32(300), # 32-bit integer "nanosec": np.uint32(0), # 32-bit unsigned integer }, "points": [ { "x": np.float64(1.0), # 32-bit float "y": np.float64(2.0), # 32-bit float "z": np.float64(3.0), # 32-bit float }, { "x": np.float64(4.0), # 32-bit float "y": np.float64(5.0), # 32-bit float "z": np.float64(6.0), # 32-bit float }, ], "outline_colors": [ { "r": np.float32(255.0), # 32-bit float "g": np.float32(0.0), # 32-bit float "b": np.float32(0.0), # 32-bit float "a": np.float32(1.0), # 32-bit float }, { "r": np.float32(0.0), # 32-bit float "g": np.float32(255.0), # 32-bit float "b": np.float32(0.0), # 32-bit float "a": np.float32(1.0), # 32-bit float }, ], } ] ), ), ] def is_subset(subset, superset): """ Check if subset is a subset of superset, to avoid false negatives linked to default values. """ if isinstance(subset, pa.Array): return is_subset(subset.to_pylist(), superset.to_pylist()) match subset: case dict(_): return all( key in superset and is_subset(val, superset[key]) for key, val in subset.items() ) case list(_) | set(_): return all( any(is_subset(subitem, superitem) for superitem in superset) for subitem in subset ) # assume that subset is a plain value if none of the above match case _: return subset == superset