test_rosservice_command_line_offline.py

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

from subprocess import Popen, PIPE, check_call, call

class TestRosserviceOffline(unittest.TestCase):

    def setUp(self):
        pass

    ## test that the usage command works
    def test_cmd_help(self):
        cmd = 'rosservice'
        sub = ['args', 'info', 'list', 'call', 'type', 'uri', 'find']
        
        output = Popen([cmd], stdout=PIPE).communicate()[0]
        output = output.decode()
        self.assert_('Commands' in output)
        output = Popen([cmd, '-h'], stdout=PIPE).communicate()[0]
        output = output.decode()
        self.assert_('Commands' in output)
        # make sure all the commands are in the usage
        for c in sub:
            self.assert_("%s %s"%(cmd, c) in output, output)            

        for c in sub:
            output = Popen([cmd, c, '-h'], stdout=PIPE).communicate()
            self.assert_("Usage:" in output[0].decode(), output)
            # make sure usage refers to the command
            self.assert_("%s %s" % (cmd, c) in output[0].decode(), output)

    def test_offline(self):
        cmd = 'rosservice'

        # point at a different 'master'
        env = os.environ.copy()
        env['ROS_MASTER_URI'] = 'http://localhost:11312'
        kwds = { 'env': env, 'stdout': PIPE, 'stderr': PIPE}

        msg = "ERROR: Unable to communicate with master!\n"

        output = Popen([cmd, 'list'], **kwds).communicate()
        self.assert_(output[1].decode().endswith(msg))
        output = Popen([cmd, 'type', 'add_two_ints'], **kwds).communicate()
        self.assert_(output[1].decode().endswith(msg))
        output = Popen([cmd, 'uri', 'add_two_ints'], **kwds).communicate()
        self.assert_(output[1].decode().endswith(msg))
        output = Popen([cmd, 'call', 'add_two_ints', '1', '2'], **kwds).communicate()
        self.assert_(output[1].decode().endswith(msg))
        # - wait should still fail if master is offline
        output = Popen([cmd, 'call', '--wait', 'add_two_ints', '1', '2'], **kwds).communicate()
        self.assert_(output[1].decode().endswith(msg))
        output = Popen([cmd, 'find', 'test_ros/AddTwoInts'], **kwds).communicate()
        self.assert_(output[1].decode().endswith(msg))
        
if __name__ == '__main__':
    rostest.unitrun('test_rosservice', NAME, TestRosserviceOffline, sys.argv, coverage_packages=[])