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00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2009, 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 $Id$ 00035 00036 from __future__ import with_statement 00037 00038 NAME = 'test_rosservice_command_line_offline' 00039 import roslib; roslib.load_manifest('test_rosservice') 00040 00041 import os 00042 import sys 00043 import unittest 00044 import cStringIO 00045 import time 00046 00047 import rostest 00048 00049 from subprocess import Popen, PIPE, check_call, call 00050 00051 class TestRosserviceOffline(unittest.TestCase): 00052 00053 def setUp(self): 00054 pass 00055 00056 ## test that the usage command works 00057 def test_cmd_help(self): 00058 cmd = 'rosservice' 00059 sub = ['args', 'info', 'list', 'call', 'type', 'uri', 'find'] 00060 00061 output = Popen([cmd], stdout=PIPE).communicate()[0] 00062 self.assert_('Commands' in output) 00063 output = Popen([cmd, '-h'], stdout=PIPE).communicate()[0] 00064 self.assert_('Commands' in output) 00065 # make sure all the commands are in the usage 00066 for c in sub: 00067 self.assert_("%s %s"%(cmd, c) in output, output) 00068 00069 for c in sub: 00070 output = Popen([cmd, c, '-h'], stdout=PIPE).communicate() 00071 self.assert_("Usage:" in output[0], output) 00072 # make sure usage refers to the command 00073 self.assert_("%s %s"%(cmd, c) in output[0], output) 00074 00075 def test_offline(self): 00076 cmd = 'rosservice' 00077 00078 # point at a different 'master' 00079 env = os.environ.copy() 00080 env['ROS_MASTER_URI'] = 'http://localhost:11312' 00081 kwds = { 'env': env, 'stdout': PIPE, 'stderr': PIPE} 00082 00083 msg = "ERROR: Unable to communicate with master!\n" 00084 00085 output = Popen([cmd, 'list'], **kwds).communicate() 00086 self.assertEquals(msg, output[1]) 00087 output = Popen([cmd, 'type', 'add_two_ints'], **kwds).communicate() 00088 self.assertEquals(msg, output[1]) 00089 output = Popen([cmd, 'uri', 'add_two_ints'], **kwds).communicate() 00090 self.assertEquals(msg, output[1]) 00091 output = Popen([cmd, 'call', 'add_two_ints', '1', '2'], **kwds).communicate() 00092 self.assertEquals(msg, output[1]) 00093 # - wait should still fail if master is offline 00094 output = Popen([cmd, 'call', '--wait', 'add_two_ints', '1', '2'], **kwds).communicate() 00095 self.assertEquals(msg, output[1]) 00096 output = Popen([cmd, 'find', 'test_ros/AddTwoInts'], **kwds).communicate() 00097 self.assertEquals(msg, output[1]) 00098 00099 if __name__ == '__main__': 00100 rostest.unitrun('test_rosservice', NAME, TestRosserviceOffline, sys.argv, coverage_packages=[])