multi_cm_dummy.py

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#!/usr/bin/env python

# Copyright (C) 2014, PAL Robotics S.L.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# * Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of PAL Robotics S.L. nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# POSSIBILITY OF SUCH DAMAGE.

import rospy
from controller_manager_tests import ControllerManagerDummy
from controller_manager_msgs.msg import ControllerState
from controller_manager_msgs.srv import ListControllersResponse, LoadController

if __name__ == '__main__':
    rospy.init_node('multi_cm_dummy')

    # Valid controller managers in different namespaces
    cm_root = ControllerManagerDummy('/')
    cm_foo1 = ControllerManagerDummy('/foo/robot/controller_manager1')
    cm_foo2 = ControllerManagerDummy('/foo/robot/controller_manager2')
    cm_default = ControllerManagerDummy()

    c_foo = ControllerState()
    c_foo.name = 'foo_controller'
    c_foo.type = 'foo_base/foo'
    c_foo.state = 'running'
    c_foo.hardware_interface='hardware_interface::FooInterface'

    c_bar = ControllerState()
    c_bar.name = 'bar_controller'
    c_bar.type = 'bar_base/bar'
    c_bar.state = 'stopped'
    c_bar.hardware_interface='hardware_interface::BarInterface'

    resp = ListControllersResponse()
    resp.controller = [c_foo, c_bar]
    cm_default.list_ctrl_resp = resp

    # Partial controller manager ROS API: missing service
    cm_incomplete = ControllerManagerDummy('/incomplete')
    cm_incomplete.reload_libs.shutdown()

    # Partial controller manager ROS API: service with wrong type
    cm_bad_type = ControllerManagerDummy('/bad_type')
    cm_bad_type.unload_ctrl.shutdown()
    cm_bad_type.unload_ctrl = rospy.Service('/bad_type/unload_controller',
                                            LoadController,  # NOTE: Wrong type
                                            cm_bad_type._unload_ctrl_cb)

    rospy.spin()