rosclient.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of Willow Garage, Inc. nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 # Revision $Id: test_embed_msg.py 1986 2008-08-26 23:57:56Z sfkwc $ 00035 00036 import unittest 00037 import xmlrpclib 00038 00039 import roslib.rosenv 00040 00041 class TestRosClient(unittest.TestCase): 00042 00043 def setUp(self): 00044 self.last_code = None 00045 self.last_msg = None 00046 self.last_val = None 00047 self.master = xmlrpclib.ServerProxy(roslib.rosenv.get_master_uri()) 00048 00049 def tearDown(self): 00050 self.master = None 00051 00052 ## unit test assertion that fails if status code is not 1 and otherwise returns the value parameter 00053 ## @param args [int, str, val]: returnv value from ROS API call 00054 ## @return val value parameter from args (arg[2] for master/slave API) 00055 def apiSuccess(self, args): 00056 self.assert_(len(args) == 3, "invalid API return value triplet: %s"%str(args)) 00057 self.last_code, self.last_msg, self.last_val = args 00058 assert self.last_code == 1, "status code is not 1: %s"%self.last_msg 00059 return self.last_val 00060 00061 ## unit test assertions that fails if status code is not 0 and otherwise returns true 00062 ## @param args [int, str, val]: returnv value from ROS API call 00063 ## @return True if status code is 0 00064 def apiFail(self, args): 00065 self.assert_(len(args) == 3, "invalid API return value triplet: %s"%str(args)) 00066 self.last_code, self.last_msg, self.last_val = args 00067 assert self.last_code == 0, "Call should have failed with status code 0: %s"%self.last_msg 00068 00069 ## unit test assertion that fails if status code is not -1 and otherwise returns true 00070 ## @return True if status code is -1 00071 def apiError(self, args, msg=None): 00072 self.assert_(len(args) == 3, "invalid API return value triplet: %s"%str(args)) 00073 self.last_code, self.last_msg, self.last_val = args 00074 if msg: 00075 assert self.last_code == -1, "%s (return msg was %s)"%(msg, self.last_msg) 00076 else: 00077 assert self.last_code == -1, "Call should have returned error -1 code: %s"%self.last_msg 00078