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00037 PKG = 'topic_tools'
00038
00039 import unittest
00040 import rospy
00041
00042 from topic_tools.srv import MuxAdd
00043 from topic_tools.srv import MuxDelete
00044 from topic_tools.srv import MuxList
00045 from topic_tools.srv import MuxSelect
00046
00047 class MuxServiceTestCase(unittest.TestCase):
00048 def make_srv_proxies(self):
00049 try:
00050 rospy.wait_for_service('mux/add', 5)
00051 rospy.wait_for_service('mux/delete', 5)
00052 rospy.wait_for_service('mux/list', 5)
00053 rospy.wait_for_service('mux/select', 5)
00054 except rospy.ROSException, e:
00055 self.fail('failed to find a required service: ' + `e`)
00056
00057 add_srv = rospy.ServiceProxy('mux/add', MuxAdd)
00058 delete_srv = rospy.ServiceProxy('mux/delete', MuxDelete)
00059 list_srv = rospy.ServiceProxy('mux/list', MuxList)
00060 select_srv = rospy.ServiceProxy('mux/select', MuxSelect)
00061
00062 return (add_srv, delete_srv, list_srv, select_srv)
00063
00064 def test_add_delete_list(self):
00065 add_srv, delete_srv, list_srv, select_srv = self.make_srv_proxies()
00066
00067 topics = list_srv().topics
00068 self.assertEquals(set(topics), set(['/input']))
00069
00070 add_srv('/new_input')
00071 topics = list_srv().topics
00072 self.assertEquals(set(topics), set(['/input', '/new_input']))
00073
00074
00075 try:
00076 add_srv('/new_input')
00077 except rospy.ServiceException, e:
00078 pass
00079 else:
00080 self.fail('service call should have thrown an exception')
00081 topics = list_srv().topics
00082 self.assertEquals(set(topics), set(['/input', '/new_input']))
00083
00084
00085 select_srv('/input')
00086 try:
00087 delete_srv('/input')
00088 except rospy.ServiceException, e:
00089 pass
00090 else:
00091 self.fail('service call should have thrown an exception')
00092 topics = list_srv().topics
00093 self.assertEquals(set(topics), set(['/input', '/new_input']))
00094
00095 select_srv('__none')
00096
00097 delete_srv('/input')
00098 topics = list_srv().topics
00099 self.assertEquals(set(topics), set(['/new_input']))
00100 delete_srv('/new_input')
00101 topics = list_srv().topics
00102 self.assertEquals(set(topics), set([]))
00103
00104 if __name__ == "__main__":
00105 import rostest
00106 rostest.unitrun(PKG, 'mux_services', MuxServiceTestCase)
00107