dotcode_tf_test.py
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00001 #!/usr/bin/env python
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00033 
00034 import unittest
00035 import rospkg
00036 
00037 import tf
00038 from tf.srv import *
00039 
00040 # get mock from pypi as 'mock'
00041 from mock import Mock, MagicMock, patch
00042 
00043 from rqt_tf_tree.dotcode_tf import RosTfTreeDotcodeGenerator
00044 
00045 
00046 class DotcodeGeneratorTest(unittest.TestCase):
00047 
00048     def test_generate_dotcode(self):
00049         with patch('tf.TransformListener') as tf:
00050             def tf_srv_fun_mock():
00051                 return tf
00052 
00053             yaml_data = {'frame1': {'parent': 'fr_parent',
00054                                             'broadcaster': 'fr_broadcaster',
00055                                             'rate': 'fr_rate',
00056                                             'buffer_length': 'fr_buffer_length',
00057                                             'most_recent_transform': 'fr_most_recent_transform',
00058                                             'oldest_transform': 'fr_oldest_transform',}}
00059             tf.frame_yaml = str(yaml_data)
00060             
00061             factoryMock = Mock()
00062             graphMock = Mock()
00063             timeMock = Mock()
00064             timerMock = Mock()
00065             timerMock.now.return_value=timeMock
00066             timeMock.to_sec.return_value=42
00067 
00068             yamlmock = Mock()
00069             yamlmock.load.return_value = yaml_data
00070             
00071             factoryMock.create_dot.return_value = "foo"
00072             factoryMock.get_graph.return_value = graphMock
00073             
00074             gen = RosTfTreeDotcodeGenerator(0)
00075             graph = gen.generate_dotcode(factoryMock, tf_srv_fun_mock, timerMock)
00076 
00077             timerMock.now.assert_called_with()
00078             timeMock.to_sec.assert_called_with()
00079             factoryMock.create_dot.assert_called_with(graphMock)
00080             
00081             self.assertEqual(graph, 'foo')


rqt_tf_tree
Author(s): Thibault Kruse
autogenerated on Thu Jul 27 2017 02:33:38