dotcode_tf_test.py

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#!/usr/bin/env python
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import unittest
import rospkg

import roslib; roslib.load_manifest('tf')

import tf
from tf.srv import *

# get mock from pypi as 'mock'
from mock import Mock, MagicMock, patch

from rqt_tf_tree.dotcode_tf import RosTfTreeDotcodeGenerator


class DotcodeGeneratorTest(unittest.TestCase):

    def test_generate_dotcode(self):
        with patch('tf.TransformListener') as tf:
            def tf_srv_fun_mock():
                return tf

            yaml_data = {'frame1': {'parent': 'fr_parent',
                                            'broadcaster': 'fr_broadcaster',
                                            'rate': 'fr_rate',
                                            'buffer_length': 'fr_buffer_length',
                                            'most_recent_transform': 'fr_most_recent_transform',
                                            'oldest_transform': 'fr_oldest_transform',}}
            tf.frame_yaml = str(yaml_data)
            
            factoryMock = Mock()
            graphMock = Mock()
            timeMock = Mock()
            timerMock = Mock()
            timerMock.now.return_value=timeMock
            timeMock.to_sec.return_value=42

            yamlmock = Mock()
            yamlmock.load.return_value = yaml_data
            
            factoryMock.create_dot.return_value = "foo"
            factoryMock.get_graph.return_value = graphMock
            
            gen = RosTfTreeDotcodeGenerator(0)
            graph = gen.generate_dotcode(factoryMock, tf_srv_fun_mock, timerMock)

            timerMock.now.assert_called_with()
            timeMock.to_sec.assert_called_with()
            factoryMock.create_dot.assert_called_with(graphMock)
            
            self.assertEqual(graph, 'foo')