rosclient.py

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#!/usr/bin/env python
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# Revision $Id: test_embed_msg.py 1986 2008-08-26 23:57:56Z sfkwc $

import unittest
import xmlrpclib

import rosgraph

class TestRosClient(unittest.TestCase):

    def setUp(self):
        self.last_code = None
        self.last_msg = None
        self.last_val = None
        self.master = xmlrpclib.ServerProxy(rosgraph.get_master_uri())
    
    def tearDown(self):
        self.master = None
        
    ## unit test assertion that fails if status code is not 1 and otherwise returns the value parameter
    ## @param args [int, str, val]: returnv value from ROS API call
    ## @return val value parameter from args (arg[2] for master/slave API)
    def apiSuccess(self, args):
        self.assert_(len(args) == 3, "invalid API return value triplet: %s"%str(args))
        self.last_code, self.last_msg, self.last_val = args
        assert self.last_code == 1, "status code is not 1: %s"%self.last_msg
        return self.last_val

    ## unit test assertions that fails if status code is not 0 and otherwise returns true
    ## @param args [int, str, val]: returnv value from ROS API call
    ## @return True if status code is 0
    def apiFail(self, args):
        self.assert_(len(args) == 3, "invalid API return value triplet: %s"%str(args))
        self.last_code, self.last_msg, self.last_val = args
        assert self.last_code == 0, "Call should have failed with status code 0: %s"%self.last_msg

    ## unit test assertion that fails if status code is not -1 and otherwise returns true
    ## @return True if status code is -1
    def apiError(self, args, msg=None):
        self.assert_(len(args) == 3, "invalid API return value triplet: %s"%str(args))
        self.last_code, self.last_msg, self.last_val = args
        if msg:
            assert self.last_code == -1, "%s (return msg was %s)"%(msg, self.last_msg)
        else:
            assert self.last_code == -1, "Call should have returned error -1 code: %s"%self.last_msg