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test_roslaunch_launch.py

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#!/usr/bin/env python
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# Revision $Id: test_core.py 6875 2009-11-12 21:10:24Z kwc $

PKG = 'test_roslaunch'
NAME = 'test_roslaunch_launch'

import roslib; roslib.load_manifest(PKG)

import os
import sys
import unittest
    
## Test roslaunch.launch
class TestRoslaunchLaunch(unittest.TestCase):
        
    def setUp(self):
        self.printerrlog_msg = None
        
    def my_printerrlog(self, msg):
        self.printerrlog_msg = msg
        
    def test_validate_master_launch(self):
        import roslaunch.launch
        from roslaunch.core import Master
        from roslaunch.launch import validate_master_launch
        roslaunch.launch.printerrlog = self.my_printerrlog

        # Good configurations
        os.environ['ROS_MASTER_URI'] = 'http://localhost:11311'
        m = Master(uri='http://localhost:11311')
        validate_master_launch(m, True)
        self.assertEquals(None, self.printerrlog_msg)
        validate_master_launch(m, False)
        self.assertEquals(None, self.printerrlog_msg)
        
        # roscore with mismatched port in environment
        os.environ['ROS_MASTER_URI'] = 'http://localhost:11312'
        validate_master_launch(m, True)
        self.assert_('port' in self.printerrlog_msg)
        self.printerrlog_msg = None

        # roscore with mismatched hostname in environment
        os.environ['ROS_MASTER_URI'] = 'http://fake:11311'
        validate_master_launch(m, True)
        self.assert_('host' in self.printerrlog_msg)
        self.printerrlog_msg = None

        # roslaunch with remote master that cannot be contacted
        os.environ['ROS_MASTER_URI'] = 'http://fake:11311'
        self.assertEquals(None, self.printerrlog_msg)

        # environment doesn't matter for remaining tests
        os.environ['ROS_MASTER_URI'] = 'http://localhost:11311'
        m = Master(uri="http://fake:11311")

        # roscore with hostname that points elsewhere, warn user. This
        # generally could only happen if the user has a bad local host
        # config.
        validate_master_launch(m, True)
        self.assert_("WARNING" in self.printerrlog_msg)
        self.printerrlog_msg = None

        # roscore with host that is not ours
        m = Master(uri="http://willowgarage.com:11311")
        validate_master_launch(m, True)
        self.assert_("WARNING" in self.printerrlog_msg)
        self.printerrlog_msg = None
        
        # roslaunch with remote master that is out of contact, fail
        try:
            validate_master_launch(m, False)
            self.fail("should not pass if remote master cannot be contacted")
        except roslaunch.RLException:
            pass
        
    def test__unify_clear_params(self):
        from roslaunch.launch import _unify_clear_params
        self.assertEquals([], _unify_clear_params([]))
        for t in [['/foo'], ['/foo/'], ['/foo/', '/foo'],
                  ['/foo/', '/foo/'], ['/foo/', '/foo/bar', '/foo/'],
                  ['/foo/', '/foo/bar', '/foo/bar/baz']]:
            self.assertEquals(['/foo/'], _unify_clear_params(t))
        for t in [['/'], ['/', '/foo/'], ['/foo/', '/', '/baz', '/car/dog']]:
            self.assertEquals(['/'], _unify_clear_params(t))
            
        self.assertEquals(['/foo/', '/bar/', '/baz/'], _unify_clear_params(['/foo', '/bar', '/baz']))
        self.assertEquals(['/foo/', '/bar/', '/baz/'], _unify_clear_params(['/foo', '/bar', '/baz', '/bar/delta', '/baz/foo']))
        self.assertEquals(['/foo/bar/'], _unify_clear_params(['/foo/bar', '/foo/bar/baz']))
        
        
    def test__hostname_to_rosname(self):
        from roslaunch.launch import _hostname_to_rosname
        self.assertEquals("host_ann", _hostname_to_rosname('ann'))
        self.assertEquals("host_ann", _hostname_to_rosname('ANN'))
        self.assertEquals("host_", _hostname_to_rosname(''))
        self.assertEquals("host_1", _hostname_to_rosname('1'))
        self.assertEquals("host__", _hostname_to_rosname('_'))
        self.assertEquals("host__", _hostname_to_rosname('-'))
        self.assertEquals("host_foo_laptop", _hostname_to_rosname('foo-laptop'))

    def test_ROSLaunchListeners(self):
        import roslaunch.launch
        class L(roslaunch.launch.ROSLaunchListener):
            def process_died(self, process_name, exit_code):
                self.process_name = process_name
                self.exit_code = exit_code
        class LBad(roslaunch.launch.ROSLaunchListener):
            def process_died(self, process_name, exit_code):
                raise Exception("foo")

        listeners = roslaunch.launch._ROSLaunchListeners()
        l1 = L()
        l2 = L()        
        lbad = L()
        l3 = L()
        # test with no listeners
        listeners.process_died('p0', 0)
        # test with 1 listener
        listeners.add_process_listener(l1)
        listeners.process_died('p1', 1)
        self.assertEquals(l1.process_name, 'p1')
        self.assertEquals(l1.exit_code, 1)

        # test with 2 listeners        
        listeners.add_process_listener(l2)
        listeners.process_died('p2', 2)
        for l in [l1, l2]:
            self.assertEquals(l.process_name, 'p2')
            self.assertEquals(l.exit_code, 2)

        listeners.add_process_listener(lbad)
        # make sure that this catches errors
        listeners.process_died('p3', 3)
        for l in [l1, l2]:
            self.assertEquals(l.process_name, 'p3')
            self.assertEquals(l.exit_code, 3)
        # also add a third listener to make sure that listeners continues after lbad throws
        listeners.add_process_listener(l3)
        listeners.process_died('p4', 4)
        for l in [l1, l2, l3]:
            self.assertEquals(l.process_name, 'p4')
            self.assertEquals(l.exit_code, 4)            
        
if __name__ == '__main__':
    import rostest
    rostest.unitrun('test_roslaunch', NAME, TestRoslaunchLaunch, coverage_packages=['roslaunch.launch'])
    

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test_roslaunch
Author(s): Ken Conley/kwc@willowgarage.com
autogenerated on Sat Mar 2 13:24:23 2013