test_rospy_transport.py

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#!/usr/bin/env python
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import os
import sys
import struct
import unittest
import time

class TestRospyTransport(unittest.TestCase):

    def test_Transport(self):
        from rospy.impl.transport import Transport, INBOUND, OUTBOUND, BIDIRECTIONAL
        ids = []
        for d in [INBOUND, OUTBOUND, BIDIRECTIONAL]:
            t = Transport(d)
            self.assertEquals(d, t.direction)
            self.assertEquals("UNKNOWN", t.transport_type)            
            self.failIf(t.done)
            self.assertEquals(None, t.cleanup_cb)
            self.assertEquals('', t.endpoint_id)            
            self.assertEquals('unnamed', t.name)
            self.assertEquals(0, t.stat_bytes)            
            self.assertEquals(0, t.stat_num_msg)            
            self.failIf(t.id in ids)
            ids.append(t.id)

            t = Transport(d, 'a name')
            self.assertEquals(d, t.direction)
            self.assertEquals('a name', t.name)

        # test cleanup with and without a callback
        t = Transport(INBOUND)
        t.close()
        self.assert_(t.done)
        t = Transport(INBOUND)

        self.cleanup_obj = None
        def cleanup(obj):
            self.cleanup_obj = obj

        t.set_cleanup_callback(cleanup)
        self.assertEquals(t.cleanup_cb, cleanup)
        t.close()
        self.assert_(t.done)
        self.assertEquals(self.cleanup_obj, t)

        t = Transport(OUTBOUND)
        import traceback
        try:
            t.send_message('msg', 1)
            self.fail("send_message() should be abstract")
        except: pass
        try:
            t.write_data('data')
            self.fail("write_data() should be abstract")
        except: pass
        t = Transport(INBOUND)
        try:
            t.receive_once()
            self.fail("receive_once() should be abstract")
        except: pass
        t = Transport(INBOUND)
        try:
            t.receive_loop()
            self.fail("receive_loop() should be abstract")
        except: pass
        
    def test_DeadTransport(self):
        from rospy.impl.transport import Transport, DeadTransport, INBOUND, OUTBOUND, BIDIRECTIONAL
        t = Transport(INBOUND, 'foo')
        t.stat_bytes = 1234
        t.stat_num_msg = 5678
        dead = DeadTransport(t)
        self.assertEquals(INBOUND, dead.direction)
        self.assertEquals('foo', dead.name)
        self.assertEquals(1234, dead.stat_bytes)
        self.assertEquals(5678, dead.stat_num_msg)        
        self.assertEquals(True, dead.done)
        self.assertEquals('', dead.endpoint_id)

        t = Transport(OUTBOUND, 'bar')
        t.endpoint_id = 'blah blah'
        t.close()
        dead = DeadTransport(t)
        self.assertEquals(OUTBOUND, dead.direction)
        self.assertEquals('bar', dead.name)
        self.assertEquals(True, dead.done)
        self.assertEquals(t.endpoint_id, dead.endpoint_id)
        
    def test_ProtocolHandler(self):
        # tripwire tests
        from rospy.impl.transport import ProtocolHandler
        h = ProtocolHandler()
        self.failIf(h.supports('TCPROS'))
        self.assertEquals([], h.get_supported())
        try:
            h.create_connection("/topic", 'http://localhost:1234', ['TCPROS'])
            self.fail("create_connection should raise an exception")
        except: pass
        try:
            h.init_publisher("/topic", 'TCPROS')
            self.fail("init_publisher raise an exception")
        except: pass
        h.shutdown()