test_mux_services.py

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#!/usr/bin/env python

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# Author: Brian Gerkey

PKG = 'topic_tools'

import unittest
import rospy

from topic_tools.srv import MuxAdd
from topic_tools.srv import MuxDelete
from topic_tools.srv import MuxList
from topic_tools.srv import MuxSelect

class MuxServiceTestCase(unittest.TestCase):
    def make_srv_proxies(self):
        try:
            rospy.wait_for_service('mux/add', 5)
            rospy.wait_for_service('mux/delete', 5)
            rospy.wait_for_service('mux/list', 5)
            rospy.wait_for_service('mux/select', 5)
        except rospy.ROSException, e:
            self.fail('failed to find a required service: ' + `e`)

        add_srv = rospy.ServiceProxy('mux/add', MuxAdd)
        delete_srv = rospy.ServiceProxy('mux/delete', MuxDelete)
        list_srv = rospy.ServiceProxy('mux/list', MuxList)
        select_srv = rospy.ServiceProxy('mux/select', MuxSelect)

        return (add_srv, delete_srv, list_srv, select_srv)
            
    def test_add_delete_list(self):
        add_srv, delete_srv, list_srv, select_srv = self.make_srv_proxies()
        # Check initial condition
        topics = list_srv().topics
        self.assertEquals(set(topics), set(['/input']))
        # Add a topic and make sure it's there
        add_srv('/new_input')
        topics = list_srv().topics
        self.assertEquals(set(topics), set(['/input', '/new_input']))
        # Try to add the same topic again, make sure it fails, and that
        # nothing changes.
        try:
            add_srv('/new_input')
        except rospy.ServiceException, e:
            pass
        else:
            self.fail('service call should have thrown an exception')
        topics = list_srv().topics
        self.assertEquals(set(topics), set(['/input', '/new_input']))
        # Select a topic, then try to delete it, make sure it fails, and
        # that nothing changes.
        select_srv('/input')
        try:
            delete_srv('/input')
        except rospy.ServiceException, e:
            pass
        else:
            self.fail('service call should have thrown an exception')
        topics = list_srv().topics
        self.assertEquals(set(topics), set(['/input', '/new_input']))
        # Select nothing, to allow deletion
        select_srv('__none')
        # Delete topics
        delete_srv('/input')
        topics = list_srv().topics
        self.assertEquals(set(topics), set(['/new_input']))
        delete_srv('/new_input')
        topics = list_srv().topics
        self.assertEquals(set(topics), set([]))

if __name__ == "__main__":
    import rostest
    rostest.unitrun(PKG, 'mux_services', MuxServiceTestCase)