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00034 import unittest
00035 import rospkg
00036
00037 import roslib; roslib.load_manifest('tf')
00038
00039 import tf
00040 from tf.srv import *
00041
00042
00043 from mock import Mock, MagicMock, patch
00044
00045 from rqt_tf_tree.dotcode_tf import RosTfTreeDotcodeGenerator
00046
00047
00048 class DotcodeGeneratorTest(unittest.TestCase):
00049
00050 def test_generate_dotcode(self):
00051 with patch('tf.TransformListener') as tf:
00052 def tf_srv_fun_mock():
00053 return tf
00054
00055 yaml_data = {'frame1': {'parent': 'fr_parent',
00056 'broadcaster': 'fr_broadcaster',
00057 'rate': 'fr_rate',
00058 'buffer_length': 'fr_buffer_length',
00059 'most_recent_transform': 'fr_most_recent_transform',
00060 'oldest_transform': 'fr_oldest_transform',}}
00061 tf.frame_yaml = str(yaml_data)
00062
00063 factoryMock = Mock()
00064 graphMock = Mock()
00065 timeMock = Mock()
00066 timerMock = Mock()
00067 timerMock.now.return_value=timeMock
00068 timeMock.to_sec.return_value=42
00069
00070 yamlmock = Mock()
00071 yamlmock.load.return_value = yaml_data
00072
00073 factoryMock.create_dot.return_value = "foo"
00074 factoryMock.get_graph.return_value = graphMock
00075
00076 gen = RosTfTreeDotcodeGenerator(0)
00077 graph = gen.generate_dotcode(factoryMock, tf_srv_fun_mock, timerMock)
00078
00079 timerMock.now.assert_called_with()
00080 timeMock.to_sec.assert_called_with()
00081 factoryMock.create_dot.assert_called_with(graphMock)
00082
00083 self.assertEqual(graph, 'foo')