test_mux_services.py
Go to the documentation of this file.
00001 #!/usr/bin/env python
00002 
00003 # Software License Agreement (BSD License)
00004 #
00005 # Copyright (c) 2008, Willow Garage, Inc.
00006 # All rights reserved.
00007 #
00008 # Redistribution and use in source and binary forms, with or without
00009 # modification, are permitted provided that the following conditions
00010 # are met:
00011 #
00012 #  * Redistributions of source code must retain the above copyright
00013 #    notice, this list of conditions and the following disclaimer.
00014 #  * Redistributions in binary form must reproduce the above
00015 #    copyright notice, this list of conditions and the following
00016 #    disclaimer in the documentation and/or other materials provided
00017 #    with the distribution.
00018 #  * Neither the name of Willow Garage, Inc. nor the names of its
00019 #    contributors may be used to endorse or promote products derived
00020 #    from this software without specific prior written permission.
00021 #
00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 # POSSIBILITY OF SUCH DAMAGE.
00034 #
00035 # Author: Brian Gerkey
00036 
00037 PKG = 'topic_tools'
00038 
00039 import unittest
00040 import rospy
00041 
00042 from topic_tools.srv import MuxAdd
00043 from topic_tools.srv import MuxDelete
00044 from topic_tools.srv import MuxList
00045 from topic_tools.srv import MuxSelect
00046 
00047 class MuxServiceTestCase(unittest.TestCase):
00048     def make_srv_proxies(self):
00049         try:
00050             rospy.wait_for_service('mux/add', 5)
00051             rospy.wait_for_service('mux/delete', 5)
00052             rospy.wait_for_service('mux/list', 5)
00053             rospy.wait_for_service('mux/select', 5)
00054         except rospy.ROSException as e:
00055             self.fail('failed to find a required service: ' + `e`)
00056 
00057         add_srv = rospy.ServiceProxy('mux/add', MuxAdd)
00058         delete_srv = rospy.ServiceProxy('mux/delete', MuxDelete)
00059         list_srv = rospy.ServiceProxy('mux/list', MuxList)
00060         select_srv = rospy.ServiceProxy('mux/select', MuxSelect)
00061 
00062         return (add_srv, delete_srv, list_srv, select_srv)
00063             
00064     def test_add_delete_list(self):
00065         add_srv, delete_srv, list_srv, select_srv = self.make_srv_proxies()
00066         # Check initial condition
00067         topics = list_srv().topics
00068         self.assertEquals(set(topics), set(['/input']))
00069         # Add a topic and make sure it's there
00070         add_srv('/new_input')
00071         topics = list_srv().topics
00072         self.assertEquals(set(topics), set(['/input', '/new_input']))
00073         # Try to add the same topic again, make sure it fails, and that
00074         # nothing changes.
00075         try:
00076             add_srv('/new_input')
00077         except rospy.ServiceException:
00078             pass
00079         else:
00080             self.fail('service call should have thrown an exception')
00081         topics = list_srv().topics
00082         self.assertEquals(set(topics), set(['/input', '/new_input']))
00083         # Select a topic, then try to delete it, make sure it fails, and
00084         # that nothing changes.
00085         select_srv('/input')
00086         try:
00087             delete_srv('/input')
00088         except rospy.ServiceException:
00089             pass
00090         else:
00091             self.fail('service call should have thrown an exception')
00092         topics = list_srv().topics
00093         self.assertEquals(set(topics), set(['/input', '/new_input']))
00094         # Select nothing, to allow deletion
00095         select_srv('__none')
00096         # Delete topics
00097         delete_srv('/input')
00098         topics = list_srv().topics
00099         self.assertEquals(set(topics), set(['/new_input']))
00100         delete_srv('/new_input')
00101         topics = list_srv().topics
00102         self.assertEquals(set(topics), set([]))
00103 
00104 if __name__ == "__main__":
00105     import rostest
00106     rostest.unitrun(PKG, 'mux_services', MuxServiceTestCase)
00107 


topic_tools
Author(s): Morgan Quigley, Brian Gerkey
autogenerated on Thu Jun 6 2019 21:10:59