test_mux_services.py
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1 #!/usr/bin/env python
2 
3 # Software License Agreement (BSD License)
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5 # Copyright (c) 2008, Willow Garage, Inc.
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35 # Author: Brian Gerkey
36 
37 PKG = 'topic_tools'
38 
39 import unittest
40 import rospy
41 
42 from topic_tools.srv import MuxAdd
43 from topic_tools.srv import MuxDelete
44 from topic_tools.srv import MuxList
45 from topic_tools.srv import MuxSelect
46 
47 class MuxServiceTestCase(unittest.TestCase):
48  def make_srv_proxies(self):
49  try:
50  rospy.wait_for_service('mux/add', 5)
51  rospy.wait_for_service('mux/delete', 5)
52  rospy.wait_for_service('mux/list', 5)
53  rospy.wait_for_service('mux/select', 5)
54  except rospy.ROSException as e:
55  self.fail('failed to find a required service: ' + repr(e))
56 
57  add_srv = rospy.ServiceProxy('mux/add', MuxAdd)
58  delete_srv = rospy.ServiceProxy('mux/delete', MuxDelete)
59  list_srv = rospy.ServiceProxy('mux/list', MuxList)
60  select_srv = rospy.ServiceProxy('mux/select', MuxSelect)
61 
62  return (add_srv, delete_srv, list_srv, select_srv)
63 
65  add_srv, delete_srv, list_srv, select_srv = self.make_srv_proxies()
66  # Check initial condition
67  topics = list_srv().topics
68  self.assertEquals(set(topics), set(['/input']))
69  # Add a topic and make sure it's there
70  add_srv('/new_input')
71  topics = list_srv().topics
72  self.assertEquals(set(topics), set(['/input', '/new_input']))
73  # Try to add the same topic again, make sure it fails, and that
74  # nothing changes.
75  try:
76  add_srv('/new_input')
77  except rospy.ServiceException:
78  pass
79  else:
80  self.fail('service call should have thrown an exception')
81  topics = list_srv().topics
82  self.assertEquals(set(topics), set(['/input', '/new_input']))
83  # Select a topic, then try to delete it, make sure it fails, and
84  # that nothing changes.
85  select_srv('/input')
86  try:
87  delete_srv('/input')
88  except rospy.ServiceException:
89  pass
90  else:
91  self.fail('service call should have thrown an exception')
92  topics = list_srv().topics
93  self.assertEquals(set(topics), set(['/input', '/new_input']))
94  # Select nothing, to allow deletion
95  select_srv('__none')
96  # Delete topics
97  delete_srv('/input')
98  topics = list_srv().topics
99  self.assertEquals(set(topics), set(['/new_input']))
100  delete_srv('/new_input')
101  topics = list_srv().topics
102  self.assertEquals(set(topics), set([]))
103 
104 if __name__ == "__main__":
105  import rostest
106  rostest.unitrun(PKG, 'mux_services', MuxServiceTestCase)
107 


topic_tools
Author(s): Morgan Quigley, Brian Gerkey, Dirk Thomas
autogenerated on Mon Feb 28 2022 23:34:17