Merge pull request #913 from JuliaRobotics/22Q3/enh/toimage

dehann · web-flow · commit cd03d56370b2 · 2022-09-27T06:55:12.000+02:00
mv toImage better placement
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -7,7 +7,7 @@ on:
       - develop
       - release**
 jobs:
-  test:
+  basic-functional:
     name: Julia ${{ matrix.version }} - ${{ matrix.arch }} - ${{ matrix.group }} - ${{ matrix.os }}
     runs-on: ${{ matrix.os }}
     env:
@@ -24,7 +24,6 @@ jobs:
           - x64
         group:
           - 'basic_functional_group'
-          - 'test_cases_group'
     steps:
       - uses: actions/checkout@v2
       - uses: julia-actions/setup-julia@v1
@@ -54,7 +53,53 @@ jobs:
         with:
           file: lcov.info
   
-  test-masters:
+  test-cases:
+    name: Julia ${{ matrix.version }} - ${{ matrix.arch }} - ${{ matrix.group }} - ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    env:
+      JULIA_PKG_SERVER: ""
+    strategy:
+      fail-fast: false
+      matrix:
+        version:
+          - '1.8'
+        os:
+          - ubuntu-latest
+        arch:
+          - x64
+        group:
+          - 'test_cases_group'
+    continue-on-error: true
+    steps:
+      - uses: actions/checkout@v2
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: ${{ matrix.version }}
+          arch: ${{ matrix.arch }}
+      - uses: actions/cache@v1
+        env:
+          cache-name: cache-artifacts
+        with:
+          path: ~/.julia/artifacts
+          key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
+          restore-keys: |
+            ${{ runner.os }}-test-${{ env.cache-name }}-
+            ${{ runner.os }}-test-
+            ${{ runner.os }}-
+      - uses: julia-actions/julia-buildpkg@latest
+      - run: |
+          git config --global user.name Tester
+          git config --global user.email te@st.er
+      - uses: julia-actions/julia-runtest@latest
+        continue-on-error: ${{ matrix.version == 'nightly' }}
+        env:
+          IIF_TEST_GROUP: ${{ matrix.group }}
+      # - uses: julia-actions/julia-processcoverage@v1
+      # - uses: codecov/codecov-action@v1
+      #   with:
+      #     file: lcov.info
+
+  test-dev-main:
     #if: github.ref != 'refs/heads/release**'
     name: Upstream Dev
     runs-on: ubuntu-latest
diff --git a/src/images/ROSConversions.jl b/src/images/ROSConversions.jl
@@ -40,22 +40,33 @@ function unmarshal(
 end
 
 
-function toImage(msgd::Dict{String,Any})
-  data = base64decode(msgd["data_b64"])
-  h, w = msgd["height"], msgd["width"]
-
-  if msgd["encoding"] == "mono8"
-    img = Matrix{Gray{N0f8}}(undef, h, w)
-    # assuming one endian type for now, TODO both little and big endian
-    for i in 1:h, j in 1:w
-      img[i,j] = Gray{N0f8}(data[msgd["step"]*(i-1)+j]/255)
-    end
-    img
-  else
-    error("Conversion for ROS sensor_msgs.Image encoding not implemented yet $(msgd["encoding"])")
-  end
-end
-
 toImage(msg::Main.sensor_msgs.msg.Image) = unmarshal(msg) |> toImage
 
+
+"""
+    $SIGNATURES
+
+Convert `Caesar.Image::Dict` type to ROS message `sensor_msgs.msg.Image`.
+
+See also: [`Caesar.unmarshal`](@ref), [`Caesar.toImage`](@ref), [`Caesar._PCL.toROSPointCloud2`](@ref)
+"""
+function toROSImage(msgd::Dict{String,Any})
+  header = Main.std_msgs.msg.Header();
+  header.seq = msgd["header"]["seq"]
+  header.stamp = RobotOS.Time(msgd["header"]["stamp"]["secs"], msgd["header"]["stamp"]["nsecs"])
+  header.frame_id = msgd["header"]["frame_id"]
+
+  msg = Main.sensor_msgs.msg.Image();
+
+  msg.header = header
+  msg.height = UInt32(msgd["height"])
+  msg.width  = UInt32(msgd["width"])
+
+  msg.is_bigendian = UInt8(msgd["is_bigendian"])
+  msg.step = UInt32(msgd["step"])
+  msg.data = base64decode(msgd["data_b64"])
+  msg.encoding = msgd["encoding"]
+
+  msg
+end
 #
diff --git a/src/images/images.jl b/src/images/images.jl
@@ -9,6 +9,22 @@ export imhcatPretty, csmAnimationJoinImgs, csmAnimateSideBySide
 export makeVideoFromData
 
 
+function toImage(msgd::Dict{String,Any})
+  data = base64decode(msgd["data_b64"])
+  h, w = msgd["height"], msgd["width"]
+
+  if msgd["encoding"] == "mono8"
+    img = Matrix{Gray{N0f8}}(undef, h, w)
+    # assuming one endian type for now, TODO both little and big endian
+    for i in 1:h, j in 1:w
+      img[i,j] = Gray{N0f8}(data[msgd["step"]*(i-1)+j]/255)
+    end
+    img
+  else
+    error("Conversion for ROS sensor_msgs.Image encoding not implemented yet $(msgd["encoding"])")
+  end
+end
+
 """
     $SIGNATURES
 
