test_mongo_rospy.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2009, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
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00010 #
00011 #  * Redistributions of source code must retain the above copyright
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00013 #  * Redistributions in binary form must reproduce the above
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00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
00017 #  * Neither the name of the Willow Garage nor the names of its
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00019 #    from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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00032 # POSSIBILITY OF SUCH DAMAGE.
00033 
00034 # Author: Bhaskara Marthi
00035 #
00036 # 1
00037 
00038 ## %Tag(PYTHON_CLIENT)%
00039 
00040 import roslib; roslib.load_manifest('warehouse_ros')
00041 import rospy
00042 import warehouse_ros as wr
00043 import unittest
00044 import math
00045 import geometry_msgs.msg as gm
00046 
00047 def make_pose(x, y, th):
00048     return gm.Pose(gm.Point(x, y, 0),
00049             gm.Quaternion(0, 0, math.sin(th/2), math.cos(th/2)))
00050     
00051 def make_metadata(p, str):
00052     return {'x': p.position.x, 'y': p.position.y, 'name': str}
00053 
00054 def to_tuple(p):
00055     return (p.position.x, p.position.y, p.position.z, p.orientation.x,
00056             p.orientation.y, p.orientation.z, p.orientation.w)
00057 
00058 def eq_poses(p1, p2):
00059     return to_tuple(p1)==to_tuple(p2)
00060             
00061 
00062 class TestMongoRospy(unittest.TestCase):
00063 
00064     def test_basic(self):
00065 
00066         # Set up collection
00067         coll = wr.MessageCollection("my_db", "poses", gm.Pose)
00068         p1 = make_pose(24, 42, 0)
00069         p2 = make_pose(10, 532, 3)
00070         p3 = make_pose(53, 22, 5)
00071         p4 = make_pose(22, -5, 33)
00072 
00073         # Insert pose objects with accompanying string metadata
00074         coll.insert(p1, make_metadata(p1, "bar"))
00075         coll.insert(p2, make_metadata(p2, "baz"))
00076         coll.insert(p3, make_metadata(p3, "qux"))
00077         coll.insert(p1, make_metadata(p1, "oof"))
00078         coll.insert(p4, make_metadata(p4, "ooof"))
00079 
00080         # Query poses s.t x < 40, y > ), in descending order of name
00081         results = coll.query({'x': {'$lt': 40}, 'y': {'$gt': 0}},\
00082                 sort_by='name', ascending=False)
00083 
00084         # Turn list of pairs into pair of lists
00085         poses, metadata = zip(*list(results))
00086         
00087         self.assertEqual(len(poses), 3)
00088         self.assertTrue(eq_poses(p1, poses[0]))
00089         self.assertTrue(eq_poses(p2, poses[1]))
00090         self.assertTrue(eq_poses(p1, poses[2]))
00091 
00092         self.assertEqual(metadata[0]['name'], 'oof')
00093         self.assertEqual(metadata[1]['name'], 'baz')
00094         self.assertEqual(metadata[2]['name'], 'bar')
00095 
00096         # Update some messages
00097         coll.update(metadata[0], metadata={'name': 'bat'})
00098         coll.update(metadata[2], msg=p2)
00099         res2 = coll.query({'y': {'$gt': 40}}, sort_by='name')
00100         poses, metadata = zip(*list(res2))
00101 
00102         self.assertEqual(metadata[0]['name'], 'bar')
00103         self.assertEqual(metadata[1]['name'], 'bat')
00104         self.assertEqual(metadata[2]['name'], 'baz')
00105         self.assertTrue(eq_poses(p2, poses[0]))
00106         self.assertTrue(eq_poses(p1, poses[1]))
00107         self.assertTrue(eq_poses(p2, poses[2]))
00108         
00109 
00110         # Remove entries s.t. y<30
00111         self.assertEqual(5, coll.count())
00112         self.assertEqual(2, coll.remove({'y': {'$lt': 30}}))
00113         self.assertEqual(3, coll.count())
00114 
00115         # Test find_one
00116         self.assertTrue(coll.find_one({'y': {'$gt': 30}}))
00117         self.assertFalse(coll.find_one({'y': {'$lt': 30}}))
00118         
00119 
00120 if __name__ == "__main__":
00121     rospy.init_node('test_mongo_rospy')
00122     import rostest
00123     rostest.rosrun('mongo_ros', 'test_mongo_rospy', TestMongoRospy)
00124 
00125 ## %EndTag(PYTHON_CLIENT)%


warehouse_ros
Author(s): Bhaskara Marthi
autogenerated on Fri Apr 22 2016 04:08:50