split up seek tests

rosbag2_py/test/test_sequential_reader.py

@@ -79,9 +79,20 @@ def test_sequential_reader():
             assert msg.data == f'Hello, world! {msg_counter}'
             msg_counter += 1
 
-    # Seek No Filter
-    reader.reset_filter()
 
+def test_sequential_reader_seek():
+    bag_path = str(Path(__file__).parent.parent / 'resources' / 'talker')
+    storage_options, converter_options = get_rosbag_options(bag_path)
+
+    reader = rosbag2_py.SequentialReader()
+    reader.open(storage_options, converter_options)
+
+    topic_types = reader.get_all_topics_and_types()
+
+    # Create a map for quicker lookup
+    type_map = {topic_types[i].name: topic_types[i].type for i in range(len(topic_types))}
+
+    # Seek No Filter
     reader = rosbag2_py.SequentialReader()
     reader.open(storage_options, converter_options)
     reader.seek(1585866237113147888)

rosbag2_py/test/test_sequential_reader_multiple_files.py

@@ -28,7 +28,7 @@
 import rosbag2_py  # noqa
 
 
-def test_sequential_reader():
+def test_reset_filter():
     bag_path = str(Path(__file__).parent.parent / 'resources' / 'wbag')
     storage_options, converter_options = get_rosbag_options(bag_path)
 
@@ -72,6 +72,14 @@ def test_sequential_reader():
     assert topic == 'EEE'
     assert t == 1005
 
+
+def test_seek_forward():
+    bag_path = str(Path(__file__).parent.parent / 'resources' / 'wbag')
+    storage_options, converter_options = get_rosbag_options(bag_path)
+
+    reader = rosbag2_py.SequentialReader()
+    reader.open(storage_options, converter_options)
+
     # seek forward
     reader.seek(1822)
 
@@ -99,6 +107,20 @@ def test_sequential_reader():
     assert topic == 'BBB'
     assert t == 1826
 
+
+def test_seek_backward():
+    bag_path = str(Path(__file__).parent.parent / 'resources' / 'wbag')
+    storage_options, converter_options = get_rosbag_options(bag_path)
+
+    reader = rosbag2_py.SequentialReader()
+    reader.open(storage_options, converter_options)
+
+    # seek forward first
+    reader.seek(1822)
+    storage_filter = rosbag2_py.StorageFilter(topics=['BBB', 'GGG'])
+    reader.set_filter(storage_filter)
+    (topic, data, t) = reader.read_next()
+
     # seek backwards & filter preserved
     reader.seek(1408)
 
@@ -116,8 +138,3 @@ def test_sequential_reader():
 
     assert topic == 'BBB'
     assert t == 1413
-
-
-def test_plugin_list():
-    reader_plugins = rosbag2_py.get_registered_readers()
-    assert 'my_read_only_test_plugin' in reader_plugins