test_loader.py

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#!/usr/bin/env python
 
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# 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 the Willow Garage, Inc. 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
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
 
 
import roslib; roslib.load_manifest('test_nodelet')
import rospy
import unittest
import rostest
import random
import subprocess
 
from nodelet.srv import *
 
class TestLoader(unittest.TestCase):
    def test_loader(self):
        load = rospy.ServiceProxy('/nodelet_manager/load_nodelet', NodeletLoad)
        unload = rospy.ServiceProxy('/nodelet_manager/unload_nodelet', NodeletUnload)
        list = rospy.ServiceProxy('/nodelet_manager/list', NodeletList)
 
        load.wait_for_service()
        unload.wait_for_service()
        list.wait_for_service()
 
        req = NodeletLoadRequest()
        req.name = "/my_nodelet"
        req.type = "test_nodelet/Plus"
 
        res = load.call(req)
        self.assertTrue(res.success)
 
        req = NodeletListRequest()
        res = list.call(req)
        self.assertIn('/my_nodelet', res.nodelets)
 
        req = NodeletUnloadRequest()
        req.name = "/my_nodelet"
        res = unload.call(req)
        self.assertTrue(res.success)
 
    def test_loader_failed_initialization(self):
        load = rospy.ServiceProxy('/nodelet_manager/load_nodelet', NodeletLoad)
        unload = rospy.ServiceProxy('/nodelet_manager/unload_nodelet', NodeletUnload)
        list = rospy.ServiceProxy('/nodelet_manager/list', NodeletList)
 
        load.wait_for_service()
        unload.wait_for_service()
        list.wait_for_service()
 
        req = NodeletLoadRequest()
        req.name = "/my_nodelet"
        req.type = "test_nodelet/FailingNodelet"
        self.assertRaises(rospy.ServiceException, load.call, req)
 
        # If the Nodelet failed to initialize, it shouldn't be stored in the
        # nodelet map
        req = NodeletListRequest()
        res = list.call(req)
        self.assertNotIn('/my_nodelet', res.nodelets)
 
        req = NodeletUnloadRequest()
        req.name = "/my_nodelet"
        self.assertRaises(rospy.ServiceException, unload.call, req)
 
    def test_loader_error_message(self):
        proc = subprocess.Popen(["rosrun", "test_nodelet", "create_instance_cb_error"],
            stderr=subprocess.PIPE
        )
 
        # The load should fail
        self.assertEqual(proc.wait(), 1)
 
        # And the loader should print our error message
        out = proc.stderr.read()
        self.assertIn('NODELET_TEST_FAILURE', out.decode())
 
if __name__ == '__main__':
    rospy.init_node('test_loader')
    rostest.rosrun('test_loader', 'test_loader', TestLoader)