test_rosgraph: test_rosgraph_masterapi

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00032 import roslib; roslib.load_manifest('test_rosgraph')
00033 
00034 import os
00035 import sys
00036 import unittest
00037 
00038 import rosgraph.masterapi
00039 import rostest
00040 
00041 _ID = '/caller_id'
00042 _MASTER_URI = 'http://localhost:12345'
00043 
00044 class MasterMock(object):
00045     """
00046     Mock for testing Master without using actual master
00047     """
00048     
00049     def __init__(self):
00050         self.call = None
00051         self.return_val = None
00052 
00053     def getMasterUri(self, caller_id):
00054         self.call = ('getMasterUri', caller_id)
00055         return self.return_val
00056     
00057     def getPid(self, caller_id):
00058         self.call = ('getPid', caller_id)
00059         return self.return_val
00060 
00061     def getUri(self, caller_id):
00062         self.call = ('getUri', caller_id)
00063         return self.return_val
00064     
00065     def registerService(self, caller_id, service, service_api, caller_api):
00066         self.call = ('registerService', caller_id, service, service_api, caller_api)
00067         return self.return_val
00068     
00069     def lookupService(self, caller_id, service):
00070         self.call = ('lookupService', caller_id, service)
00071         return self.return_val
00072 
00073     def unregisterService(self, caller_id, service, service_api):
00074         self.call = ('unregisterService', caller_id, service, service_api)
00075         return self.return_val
00076 
00077     def registerSubscriber(self, caller_id, topic, topic_type, caller_api):
00078         self.call = ('registerSubscriber', caller_id, topic, topic_type, caller_api)
00079         return self.return_val
00080 
00081     def unregisterSubscriber(self, caller_id, topic, caller_api):
00082         self.call = ('unregisterSubscriber', caller_id, topic, caller_api)
00083         return self.return_val
00084     
00085     def registerPublisher(self, caller_id, topic, topic_type, caller_api):
00086         self.call = ('registerPublisher', caller_id, topic, topic_type, caller_api)
00087         return self.return_val
00088     
00089     def unregisterPublisher(self, caller_id, topic, caller_api):
00090         self.call = ('unregisterPublisher', caller_id, topic, caller_api)
00091         return self.return_val
00092 
00093     def lookupNode(self, caller_id, node_name):
00094         self.call = ('lookupNode', caller_id, node_name)
00095         return self.return_val
00096 
00097     def getPublishedTopics(self, caller_id, subgraph):
00098         self.call = ('getPublishedTopics', caller_id, subgraph)
00099         return self.return_val
00100 
00101     def getTopicTypes(self, caller_id):
00102         self.call = ('getTopicTypes', caller_id)
00103         return self.return_val
00104     
00105     def getSystemState(self, caller_id):
00106         self.call = ('getSystemState', caller_id)
00107         return self.return_val
00108 
00109     def getParam(self, caller_id, p):
00110         self.call = ('getParam', caller_id, p)
00111         return self.return_val
00112 
00113     def hasParam(self, caller_id, p):
00114         self.call = ('hasParam', caller_id, p)
00115         return self.return_val
00116 
00117     def deleteParam(self, caller_id, p):
00118         self.call = ('deleteParam', caller_id, p)
00119         return self.return_val
00120 
00121     def searchParam(self, caller_id, p):
00122         self.call = ('searchParam', caller_id, p)
00123         return self.return_val
00124 
00125     def setParam(self, caller_id, p, v):
00126         self.call = ('setParam', caller_id, p, v)
00127         return self.return_val
00128 
00129     def subscribeParam(self, caller_id, api, p):
00130         self.call = ('subscribeParam', caller_id, api, p)
00131         return self.return_val
00132 
00133     def unsubscribeParam(self, caller_id, api, p):
00134         self.call = ('unsubscribeParam', caller_id, api, p)
00135         return self.return_val
00136     
00137     def getParamNames(self, caller_id):
00138         self.call = ('getParamNames', caller_id)
00139         return self.return_val
00140     
00141 class MasterApiOfflineTest(unittest.TestCase):
00142   
00143     def setUp(self):
00144         self.m = rosgraph.masterapi.Master(_ID, master_uri = _MASTER_URI)
00145         # replace xmlrpclib server proxy with mock
00146         self.m.handle = MasterMock()
00147 
00148     def throw_failure(self, attr, args, ret_val):
00149         self.m.handle.return_val = ret_val
00150         f = getattr(self.m, attr)
00151         try:
00152             f(*args)
00153             self.fail("[%s] should have thrown Failure with args [%s], ret_val [%s]"%(attr, str(args), str(ret_val)))
00154         except rosgraph.masterapi.Failure:
00155             pass
00156 
00157     def throw_error(self, attr, args, ret_val):
00158         self.m.handle.return_val = ret_val
00159         f = getattr(self.m, attr)
00160         try:
00161             f(*args)
00162             self.fail("[%s] should have thrown Error with args [%s], ret_val [%s]"%(attr, str(args), str(ret_val)))
00163         except rosgraph.masterapi.Error:
00164             pass
00165         
00166     def test_Master(self):
00167         # test constructor args
00168         m = rosgraph.masterapi.Master(_ID, master_uri = 'http://localhost:12345')
00169         self.assertEquals(_ID, m.caller_id)
00170         self.assertEquals(_MASTER_URI, m.master_uri)        
00171 
00172         m = rosgraph.masterapi.Master(_ID)
00173         self.assertEquals(os.environ['ROS_MASTER_URI'], m.master_uri)
00174 
00175         id = '/some/other/id'
00176         m = rosgraph.masterapi.Master(id)
00177         self.assertEquals(id, m.caller_id)
00178 
00179     def test_getPid(self):
00180         h = self.m.handle
00181         r = 1235
00182         h.return_val = (1, '', r)
00183         self.assertEquals(r, self.m.getPid())
00184         self.assertEquals(('getPid',_ID), h.call)
00185         self.throw_failure('getPid', (), (0, '', r))
00186         self.throw_error('getPid', (), (-1, '', r))
00187 
00188     def test_getPid(self):
00189         h = self.m.handle
00190         r = 'http://foo:1234'
00191         h.return_val = (1, '', r)
00192         self.assertEquals(r, self.m.getUri())
00193         self.assertEquals(('getUri',_ID), h.call)
00194         self.throw_failure('getUri', (), (0, '', r))
00195         self.throw_error('getUri', (), (-1, '', r))
00196 
00197     def test_lookupService(self):
00198         h = self.m.handle
00199         r = 'rosrpc://localhost:12345'
00200         h.return_val = (1, '', r)
00201         self.assertEquals(r, self.m.lookupService('/bar/service'))
00202         self.assertEquals(('lookupService',_ID, '/bar/service'), h.call)
00203         self.throw_failure('lookupService', ('/bar/service',), (0, '', r))
00204         self.throw_error('lookupService', ('/bar/service',), (-1, '', r))
00205 
00206     def test_registerService(self):
00207         h = self.m.handle
00208         r = 11
00209         h.return_val = (1, '', r)
00210         self.assertEquals(r, self.m.registerService('/bar/service', 'rosrpc://localhost:9812', 'http://localhost:893'))
00211         self.assertEquals(('registerService',_ID, '/bar/service', 'rosrpc://localhost:9812', 'http://localhost:893'), h.call)
00212         args = ('/bar/service', 'rosrpc://localhost:9812', 'http://localhost:893')
00213         self.throw_failure('registerService', args, (0, '', r))
00214         self.throw_error('registerService', args, (-1, '', r))
00215 
00216     def test_unregisterService(self):
00217         h = self.m.handle
00218         r = 1
00219         h.return_val = (1, '', r)
00220         self.assertEquals(r, self.m.unregisterService('/bar/service', 'rosrpc://localhost:9812'))
00221         self.assertEquals(('unregisterService',_ID, '/bar/service', 'rosrpc://localhost:9812'), h.call)
00222         args = ('/bar/service', 'rosrpc://localhost:9812')
00223         self.throw_failure('unregisterService', args, (0, '', r))
00224         self.throw_error('unregisterService', args, (-1, '', r))
00225         
00226     def test_registerSubscriber(self):
00227         h = self.m.handle
00228         r = ['http://localhost:1234', 'http://localhost:98127']
00229         h.return_val = (1, '', r)
00230         self.assertEquals(r, self.m.registerSubscriber('/foo/node', 'std_msgs/String', 'http://localhost:9812'))
00231         self.assertEquals(('registerSubscriber',_ID, '/foo/node', 'std_msgs/String', 'http://localhost:9812'), h.call)
00232         args = ('/foo/node', 'std_msgs/String', 'http://localhost:9812')
00233         self.throw_failure('registerSubscriber', args, (0, '', r))
00234         self.throw_error('registerSubscriber', args, (-1, '', r))
00235 
00236     def test_unregisterSubscriber(self):
00237         h = self.m.handle
00238         r = 1
00239         h.return_val = (1, '', r)
00240         self.assertEquals(r, self.m.unregisterSubscriber('/foo/node', 'http://localhost:9812'))
00241         self.assertEquals(('unregisterSubscriber',_ID, '/foo/node', 'http://localhost:9812'), h.call)
00242         args = ('/foo/node', 'http://localhost:9812')
00243         self.throw_failure('unregisterSubscriber', args, (0, '', r))
00244         self.throw_error('unregisterSubscriber', args, (-1, '', r))
00245 
00246     def test_registerPublisher(self):
00247         h = self.m.handle
00248         r = 5
00249         h.return_val = (1, '', r)
00250         self.assertEquals(r, self.m.registerPublisher('/foo/node', 'std_msgs/String', 'http://localhost:9812'))
00251         self.assertEquals(('registerPublisher',_ID, '/foo/node', 'std_msgs/String', 'http://localhost:9812'), h.call)
00252         args = ('/foo/node', 'std_msgs/String', 'http://localhost:9812')
00253         self.throw_failure('registerPublisher', args, (0, '', r))
00254         self.throw_error('registerPublisher', args, (-1, '', r))
00255 
00256     def test_unregisterPublisher(self):
00257         h = self.m.handle
00258         r = 10
00259         h.return_val = (1, '', r)
00260         self.assertEquals(r, self.m.unregisterPublisher('/foo/node', 'http://localhost:9812'))
00261         self.assertEquals(('unregisterPublisher',_ID, '/foo/node', 'http://localhost:9812'), h.call)
00262         args = ('/foo/node', 'http://localhost:9812')
00263         self.throw_failure('unregisterPublisher', args, (0, '', r))
00264         self.throw_error('unregisterPublisher', args, (-1, '', r))
00265 
00266     def test_lookupNode(self):
00267         h = self.m.handle
00268         r = 'http://localhost:123'
00269         h.return_val = (1, '', r)
00270         self.assertEquals(r, self.m.lookupNode('/foo/node'))
00271         self.assertEquals(('lookupNode',_ID, '/foo/node'), h.call)
00272         args = ('/foo/node',)
00273         self.throw_failure('lookupNode', args, (0, '', r))
00274         self.throw_error('lookupNode', args, (-1, '', r))
00275         
00276     def test_getPublishedTopics(self):
00277         h = self.m.handle
00278         r = [ ['foo', 'bar'], ['baz', 'blah'] ]
00279         h.return_val = (1, '', r)
00280         self.assertEquals(r, self.m.getPublishedTopics('/foo'))
00281         self.assertEquals(('getPublishedTopics',_ID, '/foo'), h.call)
00282         args = ('/baz',)
00283         self.throw_failure('getPublishedTopics', args, (0, '', r))
00284         self.throw_error('getPublishedTopics', args, (-1, '', r))
00285         
00286     def test_getTopicTypes(self):
00287         h = self.m.handle
00288         r = [ ['/foo', 'std_msgs/String'], ['/baz', 'std_msgs/Int32'] ]
00289         h.return_val = (1, '', r)
00290         self.assertEquals(r, self.m.getTopicTypes())
00291         self.assertEquals(('getTopicTypes',_ID), h.call)
00292         self.throw_failure('getTopicTypes', (), (0, '', r))
00293         self.throw_error('getTopicTypes', (), (-1, '', r))
00294         
00295 
00296     def test_getSystemState(self):
00297         h = self.m.handle
00298         r = [ [], [], [] ]
00299         h.return_val = (1, '', r)
00300         self.assertEquals(r, self.m.getSystemState())
00301         self.assertEquals(('getSystemState', _ID), h.call)        
00302         self.throw_failure('getSystemState', (), (0, '', r))
00303         self.throw_error('getSystemState', (), (-1, '', r))
00304 
00305     ################################################################################
00306     # PARAM SERVER API TESTS
00307 
00308     def test_getParam(self):
00309         h = self.m.handle
00310         r = 1
00311         h.return_val = (1, '', r)
00312         p = '/test_param'
00313         self.assertEquals(r, self.m.getParam(p))
00314         self.assertEquals(('getParam', _ID, p), h.call)
00315         args = (p,)
00316         self.throw_failure('getParam', args, (0, '', r))
00317         self.throw_error('getParam', args, (-1, '', r))
00318 
00319     def test_getParamNames(self):
00320         h = self.m.handle
00321         r = [ '/foo' ]
00322         h.return_val = (1, '', r)
00323         self.assertEquals(r, self.m.getParamNames())
00324         self.assertEquals(('getParamNames', _ID), h.call)        
00325         self.throw_failure('getParamNames', (), (0, '', r))
00326         self.throw_error('getParamNames', (), (-1, '', r))
00327         
00328     def test_hasParam(self):
00329         h = self.m.handle
00330         r = True
00331         h.return_val = (1, '', r)
00332         p = '/test_param'
00333         self.assertEquals(r, self.m.hasParam(p))
00334         self.assertEquals(('hasParam', _ID, p), h.call)
00335         self.throw_failure('hasParam', (p,), (0, '', r))
00336         self.throw_error('hasParam', (p,), (-1, '', r))
00337 
00338     def test_searchParam(self):
00339         h = self.m.handle
00340         r = '/foo'
00341         h.return_val = (1, '', r)
00342         p = '/test_param'
00343         self.assertEquals(r, self.m.searchParam(p))
00344         self.assertEquals(('searchParam', _ID, p), h.call)
00345         self.throw_failure('searchParam', (p,), (0, '', r))
00346         self.throw_error('searchParam', (p,), (-1, '', r))
00347 
00348     def test_deleteParam(self):
00349         h = self.m.handle
00350         r = '/foo'
00351         h.return_val = (1, '', r)
00352         p = '/test_param'
00353         self.assertEquals(r, self.m.deleteParam(p))
00354         self.assertEquals(('deleteParam', _ID, p), h.call)        
00355         self.throw_failure('deleteParam', (p,), (0, '', r))
00356         self.throw_error('deleteParam', (p,), (-1, '', r))
00357 
00358     def test_is_online(self):
00359         self.failIf(rosgraph.masterapi.is_online(master_uri="http://fake:12345"))
00360 
00361         self.m.handle.return_val = (1, '', 1235)
00362         self.assert_(self.m.is_online())
00363         
00364     def test_subscribeParam(self):
00365         h = self.m.handle
00366         r = 1
00367         h.return_val = (1, '', r)
00368         args = ('http://bar:12345', '/test_param')
00369         self.assertEquals(r, self.m.subscribeParam(*args))
00370         self.assertEquals(('subscribeParam', _ID, args[0], args[1]), h.call)
00371         self.throw_failure('subscribeParam', args, (0, '', r))
00372         self.throw_error('subscribeParam', args, (-1, '', r))
00373 
00374     def test_unsubscribeParam(self):
00375         h = self.m.handle
00376         r = 1
00377         h.return_val = (1, '', r)
00378         args = ('http://bar:12345', '/test_param')
00379         self.assertEquals(r, self.m.unsubscribeParam(*args))
00380         self.assertEquals(('unsubscribeParam', _ID, args[0], args[1]), h.call)
00381         self.throw_failure('unsubscribeParam', args, (0, '', r))
00382         self.throw_error('unsubscribeParam', args, (-1, '', r))
00383 
00384     def test_setParam(self):
00385         h = self.m.handle
00386         r = 1
00387         h.return_val = (1, '', r)
00388         args = ('/test_set_param', 'foo')
00389         self.assertEquals(r, self.m.setParam(*args))
00390         self.assertEquals(('setParam', _ID, args[0], args[1]), h.call)
00391         self.throw_failure('setParam', args, (0, '', r))
00392         self.throw_error('setParam', args, (-1, '', r))
00393 
00394 if __name__ == '__main__':
00395     rostest.unitrun('test_rosgraph', 'test_rosgraph_masterapi_offline', MasterApiOfflineTest, coverage_packages=['rosgraph.masterapi'])
00396
test_rosgraph_masterapi_offline.py
