00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026
00027
00028
00029
00030
00031
00032
00033
00034 import os
00035 import sys
00036 import unittest
00037 import time
00038
00039 import rostest
00040
00041 from subprocess import Popen, PIPE, check_call, call
00042
00043 class TestRosserviceOffline(unittest.TestCase):
00044
00045 def setUp(self):
00046 pass
00047
00048
00049 def test_cmd_help(self):
00050 cmd = 'rosservice'
00051 sub = ['args', 'info', 'list', 'call', 'type', 'uri', 'find']
00052
00053 output = Popen([cmd], stdout=PIPE).communicate()[0]
00054 output = output.decode()
00055 self.assert_('Commands' in output)
00056 output = Popen([cmd, '-h'], stdout=PIPE).communicate()[0]
00057 output = output.decode()
00058 self.assert_('Commands' in output)
00059
00060 for c in sub:
00061 self.assert_("%s %s"%(cmd, c) in output, output)
00062
00063 for c in sub:
00064 output = Popen([cmd, c, '-h'], stdout=PIPE).communicate()
00065 self.assert_("Usage:" in output[0].decode(), output)
00066
00067 self.assert_("%s %s" % (cmd, c) in output[0].decode(), output)
00068
00069 def test_offline(self):
00070 cmd = 'rosservice'
00071
00072
00073 env = os.environ.copy()
00074 env['ROS_MASTER_URI'] = 'http://localhost:11312'
00075 kwds = { 'env': env, 'stdout': PIPE, 'stderr': PIPE}
00076
00077 msg = "ERROR: Unable to communicate with master!\n"
00078
00079 output = Popen([cmd, 'list'], **kwds).communicate()
00080 self.assert_(output[1].decode().endswith(msg))
00081 output = Popen([cmd, 'type', 'add_two_ints'], **kwds).communicate()
00082 self.assert_(output[1].decode().endswith(msg))
00083 output = Popen([cmd, 'uri', 'add_two_ints'], **kwds).communicate()
00084 self.assert_(output[1].decode().endswith(msg))
00085 output = Popen([cmd, 'call', 'add_two_ints', '1', '2'], **kwds).communicate()
00086 self.assert_(output[1].decode().endswith(msg))
00087
00088 output = Popen([cmd, 'call', '--wait', 'add_two_ints', '1', '2'], **kwds).communicate()
00089 self.assert_(output[1].decode().endswith(msg))
00090 output = Popen([cmd, 'find', 'test_ros/AddTwoInts'], **kwds).communicate()
00091 self.assert_(output[1].decode().endswith(msg))
00092
00093 if __name__ == '__main__':
00094 rostest.unitrun('test_rosservice', NAME, TestRosserviceOffline, sys.argv, coverage_packages=[])