test_rosservice_command_line_offline.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
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00004 # Copyright (c) 2009, Willow Garage, Inc.
00005 # All rights reserved.
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00011 #  * Redistributions of source code must retain the above copyright
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00033 
00034 import os
00035 import sys 
00036 import unittest
00037 import cStringIO
00038 import time
00039         
00040 import rostest
00041 
00042 from subprocess import Popen, PIPE, check_call, call
00043 
00044 class TestRosserviceOffline(unittest.TestCase):
00045 
00046     def setUp(self):
00047         pass
00048 
00049     ## test that the usage command works
00050     def test_cmd_help(self):
00051         cmd = 'rosservice'
00052         sub = ['args', 'info', 'list', 'call', 'type', 'uri', 'find']
00053         
00054         output = Popen([cmd], stdout=PIPE).communicate()[0]
00055         self.assert_('Commands' in output)
00056         output = Popen([cmd, '-h'], stdout=PIPE).communicate()[0]
00057         self.assert_('Commands' in output)
00058         # make sure all the commands are in the usage
00059         for c in sub:
00060             self.assert_("%s %s"%(cmd, c) in output, output)            
00061 
00062         for c in sub:
00063             output = Popen([cmd, c, '-h'], stdout=PIPE).communicate()
00064             self.assert_("Usage:" in output[0], output)
00065             # make sure usage refers to the command
00066             self.assert_("%s %s"%(cmd, c) in output[0], output)
00067 
00068     def test_offline(self):
00069         cmd = 'rosservice'
00070 
00071         # point at a different 'master'
00072         env = os.environ.copy()
00073         env['ROS_MASTER_URI'] = 'http://localhost:11312'
00074         kwds = { 'env': env, 'stdout': PIPE, 'stderr': PIPE}
00075 
00076         msg = "ERROR: Unable to communicate with master!\n"
00077 
00078         output = Popen([cmd, 'list'], **kwds).communicate()
00079         self.assert_(output[1].endswith(msg))
00080         output = Popen([cmd, 'type', 'add_two_ints'], **kwds).communicate()
00081         self.assert_(output[1].endswith(msg))
00082         output = Popen([cmd, 'uri', 'add_two_ints'], **kwds).communicate()
00083         self.assert_(output[1].endswith(msg))
00084         output = Popen([cmd, 'call', 'add_two_ints', '1', '2'], **kwds).communicate()
00085         self.assert_(output[1].endswith(msg))
00086         # - wait should still fail if master is offline
00087         output = Popen([cmd, 'call', '--wait', 'add_two_ints', '1', '2'], **kwds).communicate()
00088         self.assert_(output[1].endswith(msg))
00089         output = Popen([cmd, 'find', 'test_ros/AddTwoInts'], **kwds).communicate()
00090         self.assert_(output[1].endswith(msg))
00091         
00092 if __name__ == '__main__':
00093     rostest.unitrun('test_rosservice', NAME, TestRosserviceOffline, sys.argv, coverage_packages=[])


test_rosservice
Author(s): Ken Conley
autogenerated on Fri Aug 28 2015 12:33:47