test_ros_loader.py
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00001 #!/usr/bin/env python
00002 import sys
00003 import rospy
00004 import rostest
00005 import unittest
00006 
00007 from rosbridge_library.internal import ros_loader
00008 
00009 
00010 class TestROSLoader(unittest.TestCase):
00011 
00012     def setUp(self):
00013         rospy.init_node("test_ros_loader")
00014 
00015     def test_bad_msgnames(self):
00016         bad = ["", "/", "//", "///", "////", "/////", "bad", "stillbad",
00017        "not/better/still", "not//better//still", "not///better///still",
00018        "better/", "better//", "better///", "/better", "//better", "///better",
00019        "this\isbad", "\\"]
00020         for x in bad:
00021             self.assertRaises(ros_loader.InvalidTypeStringException,
00022                               ros_loader.get_message_class, x)
00023             self.assertRaises(ros_loader.InvalidTypeStringException,
00024                               ros_loader.get_message_instance, x)
00025 
00026     def test_irregular_msgnames(self):
00027         irregular = ["std_msgs//String", "//std_msgs/String",
00028          "/std_msgs//String", "/std_msgs/String", "//std_msgs//String",
00029          "/std_msgs/String/", "//std_msgs//String//", "std_msgs/String/",
00030          "std_msgs//String//"]
00031         for x in irregular:
00032             self.assertNotEqual(ros_loader.get_message_class(x), None)
00033             self.assertNotEqual(ros_loader.get_message_instance(x), None)
00034 
00035     def test_std_msgnames(self):
00036         stdmsgs = ["std_msgs/Bool", "std_msgs/Byte", "std_msgs/ByteMultiArray",
00037         "std_msgs/ColorRGBA", "std_msgs/Duration", "std_msgs/Empty",
00038         "std_msgs/Float32", "std_msgs/Float32MultiArray", "std_msgs/Float64",
00039         "std_msgs/Header", "std_msgs/Int16", "std_msgs/Int16MultiArray",
00040         "std_msgs/Int32", "std_msgs/Int32MultiArray", "std_msgs/Int64",
00041         "std_msgs/Int64MultiArray", "std_msgs/Int8", "std_msgs/Int8MultiArray",
00042         "std_msgs/MultiArrayDimension", "std_msgs/MultiArrayLayout",
00043         "std_msgs/String", "std_msgs/Time", "std_msgs/UInt16",
00044         "std_msgs/UInt16MultiArray", "std_msgs/UInt32MultiArray",
00045         "std_msgs/UInt64MultiArray", "std_msgs/UInt32", "std_msgs/UInt64",
00046         "std_msgs/UInt8", "std_msgs/UInt8MultiArray"]
00047         for x in stdmsgs:
00048             self.assertNotEqual(ros_loader.get_message_class(x), None)
00049             inst = ros_loader.get_message_instance(x)
00050             self.assertNotEqual(inst, None)
00051             self.assertEqual(x, inst._type)
00052 
00053     def test_msg_cache(self):
00054         stdmsgs = ["std_msgs/Bool", "std_msgs/Byte", "std_msgs/ByteMultiArray",
00055         "std_msgs/ColorRGBA", "std_msgs/Duration", "std_msgs/Empty",
00056         "std_msgs/Float32", "std_msgs/Float32MultiArray", "std_msgs/Float64",
00057         "std_msgs/Header", "std_msgs/Int16", "std_msgs/Int16MultiArray",
00058         "std_msgs/Int32", "std_msgs/Int32MultiArray", "std_msgs/Int64",
00059         "std_msgs/Int64MultiArray", "std_msgs/Int8", "std_msgs/Int8MultiArray",
00060         "std_msgs/MultiArrayDimension", "std_msgs/MultiArrayLayout",
00061         "std_msgs/String", "std_msgs/Time", "std_msgs/UInt16",
00062         "std_msgs/UInt16MultiArray", "std_msgs/UInt32MultiArray",
00063         "std_msgs/UInt64MultiArray", "std_msgs/UInt32", "std_msgs/UInt64",
00064         "std_msgs/UInt8", "std_msgs/UInt8MultiArray"]
00065         for x in stdmsgs:
00066             self.assertNotEqual(ros_loader.get_message_class(x), None)
00067             inst = ros_loader.get_message_instance(x)
00068             self.assertNotEqual(inst, None)
00069             self.assertEqual(x, inst._type)
00070             self.assertTrue(x in ros_loader._loaded_msgs)
00071 
00072     def test_assorted_msgnames(self):
00073         assortedmsgs = ["geometry_msgs/Pose", "actionlib_msgs/GoalStatus",
00074         "geometry_msgs/WrenchStamped", "stereo_msgs/DisparityImage",
00075         "nav_msgs/OccupancyGrid", "geometry_msgs/Point32", "std_msgs/String",
00076         "trajectory_msgs/JointTrajectoryPoint", "diagnostic_msgs/KeyValue",
00077         "visualization_msgs/InteractiveMarkerUpdate", "nav_msgs/GridCells",
00078         "sensor_msgs/PointCloud2"]
00079         for x in assortedmsgs:
00080             self.assertNotEqual(ros_loader.get_message_class(x), None)
00081             inst = ros_loader.get_message_instance(x)
00082             self.assertNotEqual(inst, None)
00083             self.assertEqual(x, inst._type)
00084 
00085     def test_invalid_msgnames_primitives(self):
00086         invalid = ["bool", "int8", "uint8", "int16", "uint16", "int32",
00087         "uint32", "int64", "uint64", "float32", "float64", "string", "time",
00088         "duration"]
00089         for x in invalid:
00090             self.assertRaises(ros_loader.InvalidTypeStringException,
00091                               ros_loader.get_message_class, x)
00092             self.assertRaises(ros_loader.InvalidTypeStringException,
00093                               ros_loader.get_message_instance, x)
00094 
00095     def test_nonexistent_packagenames(self):
00096         nonexistent = ["wangle_msgs/Jam", "whistleblower_msgs/Document",
00097         "sexual_harrassment_msgs/UnwantedAdvance", "coercion_msgs/Bribe",
00098         "airconditioning_msgs/Cold", "pr2thoughts_msgs/Escape"]
00099         for x in nonexistent:
00100             self.assertRaises(ros_loader.InvalidPackageException,
00101                               ros_loader.get_message_class, x)
00102             self.assertRaises(ros_loader.InvalidPackageException,
00103                               ros_loader.get_message_instance, x)
00104 
00105     def test_packages_without_msgs(self):
00106         no_msgs = ["roslib/Time", "roslib/Duration", "roslib/Header",
00107         "std_srvs/ConflictedMsg", "topic_tools/MessageMessage"]
00108         for x in no_msgs:
00109             self.assertRaises(ros_loader.InvalidModuleException,
00110                               ros_loader.get_message_class, x)
00111             self.assertRaises(ros_loader.InvalidModuleException,
00112                               ros_loader.get_message_instance, x)
00113 
00114     def test_nonexistent_msg_classnames(self):
00115         nonexistent = ["roscpp/Time", "roscpp/Duration", "roscpp/Header",
00116         "rospy/Time", "rospy/Duration", "rospy/Header", "std_msgs/Spool",
00117         "geometry_msgs/Tetrahedron", "sensor_msgs/TelepathyUnit"]
00118         for x in nonexistent:
00119             self.assertRaises(ros_loader.InvalidClassException,
00120                               ros_loader.get_message_class, x)
00121             self.assertRaises(ros_loader.InvalidClassException,
00122                               ros_loader.get_message_instance, x)
00123 
00124     def test_bad_servicenames(self):
00125         bad = ["", "/", "//", "///", "////", "/////", "bad", "stillbad",
00126        "not/better/still", "not//better//still", "not///better///still",
00127        "better/", "better//", "better///", "/better", "//better", "///better",
00128        "this\isbad", "\\"]
00129         for x in bad:
00130             self.assertRaises(ros_loader.InvalidTypeStringException,
00131                               ros_loader.get_service_class, x)
00132             self.assertRaises(ros_loader.InvalidTypeStringException,
00133                               ros_loader.get_service_instance, x)
00134             self.assertRaises(ros_loader.InvalidTypeStringException,
00135                               ros_loader.get_service_request_instance, x)
00136             self.assertRaises(ros_loader.InvalidTypeStringException,
00137                               ros_loader.get_service_response_instance, x)
00138 
00139     def test_irregular_servicenames(self):
00140         irregular = ["roscpp//GetLoggers", "/roscpp/GetLoggers/",
00141         "/roscpp/GetLoggers", "//roscpp/GetLoggers", "/roscpp//GetLoggers",
00142         "roscpp/GetLoggers//", "/roscpp/GetLoggers//", "roscpp/GetLoggers/",
00143         "roscpp//GetLoggers//"]
00144         for x in irregular:
00145             self.assertNotEqual(ros_loader.get_service_class(x), None)
00146             self.assertNotEqual(ros_loader.get_service_instance(x), None)
00147             self.assertNotEqual(ros_loader.get_service_request_instance(x), None)
00148             self.assertNotEqual(ros_loader.get_service_response_instance(x), None)
00149 
00150     def test_common_servicenames(self):
00151         common = ["roscpp/GetLoggers", "roscpp/SetLoggerLevel",
00152         "std_srvs/Empty", "nav_msgs/GetMap", "nav_msgs/GetPlan",
00153         "sensor_msgs/SetCameraInfo", "topic_tools/MuxAdd",
00154         "topic_tools/MuxSelect", "tf2_msgs/FrameGraph",
00155         "rospy_tutorials/BadTwoInts", "rospy_tutorials/AddTwoInts"]
00156         for x in common:
00157             self.assertNotEqual(ros_loader.get_service_class(x), None)
00158             self.assertNotEqual(ros_loader.get_service_instance(x), None)
00159             self.assertNotEqual(ros_loader.get_service_request_instance(x), None)
00160             self.assertNotEqual(ros_loader.get_service_response_instance(x), None)
00161             self.assertEqual(x, ros_loader.get_service_instance(x)._type)
00162 
00163     def test_srv_cache(self):
00164         common = ["roscpp/GetLoggers", "roscpp/SetLoggerLevel",
00165         "std_srvs/Empty", "nav_msgs/GetMap", "nav_msgs/GetPlan",
00166         "sensor_msgs/SetCameraInfo", "topic_tools/MuxAdd",
00167         "topic_tools/MuxSelect", "tf2_msgs/FrameGraph",
00168         "rospy_tutorials/BadTwoInts", "rospy_tutorials/AddTwoInts"]
00169         for x in common:
00170             self.assertNotEqual(ros_loader.get_service_class(x), None)
00171             self.assertNotEqual(ros_loader.get_service_instance(x), None)
00172             self.assertNotEqual(ros_loader.get_service_request_instance(x), None)
00173             self.assertNotEqual(ros_loader.get_service_response_instance(x), None)
00174             self.assertTrue(x in ros_loader._loaded_srvs)
00175 
00176     def test_packages_without_srvs(self):
00177         no_msgs = ["roslib/A", "roslib/B", "roslib/C",
00178         "std_msgs/CuriousSrv"]
00179         for x in no_msgs:
00180             self.assertRaises(ros_loader.InvalidModuleException,
00181                               ros_loader.get_service_class, x)
00182             self.assertRaises(ros_loader.InvalidModuleException,
00183                               ros_loader.get_service_instance, x)
00184             self.assertRaises(ros_loader.InvalidModuleException,
00185                               ros_loader.get_service_request_instance, x)
00186             self.assertRaises(ros_loader.InvalidModuleException,
00187                               ros_loader.get_service_response_instance, x)
00188 
00189     def test_nonexistent_service_packagenames(self):
00190         nonexistent = ["butler_srvs/FetchDrink", "money_srvs/MoreMoney",
00191         "snoopdogg_srvs/SipOnGinAndJuice", "revenge_srvs/BackStab"]
00192         for x in nonexistent:
00193             self.assertRaises(ros_loader.InvalidPackageException,
00194                               ros_loader.get_service_class, x)
00195             self.assertRaises(ros_loader.InvalidPackageException,
00196                               ros_loader.get_service_instance, x)
00197             self.assertRaises(ros_loader.InvalidPackageException,
00198                               ros_loader.get_service_request_instance, x)
00199             self.assertRaises(ros_loader.InvalidPackageException,
00200                               ros_loader.get_service_response_instance, x)
00201 
00202     def test_nonexistent_service_classnames(self):
00203         nonexistent = ["std_srvs/KillAllHumans", "std_srvs/Full",
00204         "rospy_tutorials/SubtractTwoInts", "nav_msgs/LoseMap",
00205         "topic_tools/TellMeWhatThisTopicIsActuallyAbout"]
00206         for x in nonexistent:
00207             self.assertRaises(ros_loader.InvalidClassException,
00208                               ros_loader.get_service_class, x)
00209             self.assertRaises(ros_loader.InvalidClassException,
00210                               ros_loader.get_service_instance, x)
00211             self.assertRaises(ros_loader.InvalidClassException,
00212                               ros_loader.get_service_request_instance, x)
00213             self.assertRaises(ros_loader.InvalidClassException,
00214                               ros_loader.get_service_response_instance, x)
00215 
00216 PKG = 'rosbridge_library'
00217 NAME = 'test_ros_loader'
00218 if __name__ == '__main__':
00219     rostest.unitrun(PKG, NAME, TestROSLoader)
00220 


rosbridge_library
Author(s): Jonathan Mace
autogenerated on Wed Sep 13 2017 03:18:07