test_rosgraph_masterapi_online.py

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

import rosgraph.masterapi
import rostest

_ID = '/caller_id'

class MasterApiOnlineTest(unittest.TestCase):
  
    def setUp(self):
        self.m = rosgraph.masterapi.Master(_ID)

    def test_getPid(self):
        val = self.m.getPid()
        val = int(val)

    def test_getUri(self):
        val = self.m.getUri()
        self.assert_(val.startswith('http://'))
        
    def test_lookupService(self):
        uri = 'http://localhost:897'
        rpcuri = 'rosrpc://localhost:9812'
        self.m.registerService('/bar/service', rpcuri, uri)
        self.assertEquals(rpcuri, self.m.lookupService('/bar/service'))
        try:
            self.assertEquals(uri, self.m.lookupService('/fake/service'))
            self.fail("should have thrown")
        except rosgraph.masterapi.Error:
            pass

    def test_registerService(self):
        self.m.registerService('/bar/service', 'rosrpc://localhost:9812', 'http://localhost:893')

    def test_unregisterService(self):
        self.m.registerService('/unreg_service/service', 'rosrpc://localhost:9812', 'http://localhost:893')
        val = self.m.registerService('/unreg_service/service', 'rosrpc://localhost:9812', 'http://localhost:893')
        self.assertEquals(1, val)
        
    def test_registerSubscriber(self):
        val = self.m.registerSubscriber('/reg_sub/node', 'std_msgs/String', 'http://localhost:9812')
        self.assertEquals([], val)

    def test_unregisterSubscriber(self):
        self.m.registerSubscriber('/reg_unsub/node', 'std_msgs/String', 'http://localhost:9812')
        val = self.m.unregisterSubscriber('/reg_unsub/node', 'http://localhost:9812')
        self.assertEquals(1, val)

    def test_registerPublisher(self):
        val = self.m.registerPublisher('/reg_pub/topic', 'std_msgs/String', 'http://localhost:9812')

    def test_unregisterPublisher(self):
        uri = 'http://localhost:9812'
        self.m.registerPublisher('/unreg_pub/fake_topic', 'std_msgs/String', uri)
        self.m.unregisterPublisher('/unreg_pub/fake_topic', uri)

    def test_lookupNode(self):
        # register and lookup self
        uri = 'http://localhost:12345'
        self.m.registerPublisher('fake_topic', 'std_msgs/String', uri)
        self.assertEquals(uri, self.m.lookupNode(_ID))
        
        try:
            self.m.lookupNode('/non/existent')
            self.fail("should have thrown")
        except rosgraph.masterapi.Error:
            pass
        
    def test_getPublishedTopics(self):
        topics = self.m.getPublishedTopics('/')

    def test_getTopicTypes(self):
        topic_types = self.m.getTopicTypes()
        
    def test_getSystemState(self):
        pub, sub, srvs = self.m.getSystemState()

    def test_is_online(self):
        self.assert_(rosgraph.masterapi.is_online())
        self.assert_(self.m.is_online())        

    def test_getParam(self):
        try:
            self.m.getParam('fake_param')
            self.fail("should have failed to lookup fake parameter")
        except rosgraph.masterapi.Error:
            pass

    def test_hasParam(self):
        self.failIf(self.m.hasParam('fake_param'), "should have failed to lookup fake parameter")
        self.assert_(self.m.hasParam('/run_id'), "should have failed to lookup fake parameter")

    def test_setParam(self):
        self.m.setParam('/foo', 1)
        
    def test_searchParam(self):
        self.assertEquals("/run_id", self.m.searchParam('run_id'))

    def test_getParamNames(self):
        self.assert_(type(self.m.getParamNames()) == list)
        
if __name__ == '__main__':
    rostest.rosrun('test_rosgrap', 'test_rosgraph_masterapi_online', MasterApiOnlineTest)