check_rosparam_command_line_online.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
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00004 # Copyright (c) 2009, Willow Garage, Inc.
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00033 
00034 import os
00035 import sys 
00036 import time
00037 import unittest
00038 
00039 import rostest
00040 
00041 from subprocess import Popen, PIPE, check_call, call
00042 
00043 from rosgraph.names import script_resolve_name
00044 
00045 def get_param_server():
00046     import rosgraph
00047     return rosgraph.Master('/rosparam')
00048 
00049 class TestRosparamOnline(unittest.TestCase):
00050 
00051     def setUp(self):
00052         self.vals = set()
00053         self.msgs = {}
00054 
00055     def callback(self, msg, val):
00056         self.vals.add(val)
00057         self.msgs[val] = msg
00058         
00059     def test_rosparam(self):
00060         ps = get_param_server()
00061 
00062         # network is initialized
00063         cmd = 'rosparam'
00064         names = ['/chatter', 'foo/chatter']
00065 
00066         # list
00067         params = ['/string', '/int', '/float',
00068                   '/g1/string', '/g1/int', '/g1/float',
00069                   '/g2/string', '/g2/int', '/g2/float',
00070                   ]
00071         # - we aren't matching against the core services as those can make the test suites brittle
00072         output = Popen([cmd, 'list'], stdout=PIPE).communicate()[0]
00073         l = set(output.split())
00074         for t in params:
00075             self.assert_(t in l)
00076 
00077         # get
00078         # - strings
00079         output = Popen([cmd, 'get', "string"], stdout=PIPE).communicate()[0]
00080         self.assertEquals('foo-value', output.strip())
00081         # -- pretty
00082         output = Popen([cmd, 'get', '-p', "string"], stdout=PIPE).communicate()[0]
00083         self.assertEquals('foo-value', output.strip())
00084         output = Popen([cmd, 'get', "/string"], stdout=PIPE).communicate()[0]
00085         self.assertEquals('foo-value', output.strip())
00086         output = Popen([cmd, 'get', "g1/string"], stdout=PIPE).communicate()[0]
00087         self.assertEquals('g1-foo-value', output.strip())
00088         output = Popen([cmd, 'get', "/g1/string"], stdout=PIPE).communicate()[0]
00089         self.assertEquals('g1-foo-value', output.strip())
00090         output = Popen([cmd, 'get', "/g2/string"], stdout=PIPE).communicate()[0]
00091         self.assertEquals('g2-foo-value', output.strip())
00092         # - ints
00093         output = Popen([cmd, 'get', "int"], stdout=PIPE).communicate()[0]
00094         self.assertEquals('1', output.strip())
00095         # -- pretty
00096         output = Popen([cmd, 'get', '-p', "int"], stdout=PIPE).communicate()[0]
00097         self.assertEquals('1', output.strip())
00098         output = Popen([cmd, 'get', "/int"], stdout=PIPE).communicate()[0]
00099         self.assertEquals('1', output.strip())
00100         output = Popen([cmd, 'get', "g1/int"], stdout=PIPE).communicate()[0]
00101         self.assertEquals('10', output.strip())
00102         output = Popen([cmd, 'get', "/g1/int"], stdout=PIPE).communicate()[0]
00103         self.assertEquals('10', output.strip())
00104         output = Popen([cmd, 'get', "/g2/int"], stdout=PIPE).communicate()[0]
00105         self.assertEquals('20', output.strip())
00106         # - floats
00107         output = Popen([cmd, 'get', "float"], stdout=PIPE).communicate()[0]
00108         self.assertEquals('1.0', output.strip())
00109         # -- pretty
00110         output = Popen([cmd, 'get', '-p', "float"], stdout=PIPE).communicate()[0]
00111         self.assertEquals('1.0', output.strip())
00112         output = Popen([cmd, 'get', "/float"], stdout=PIPE).communicate()[0]
00113         self.assertEquals('1.0', output.strip())
00114         output = Popen([cmd, 'get', "g1/float"], stdout=PIPE).communicate()[0]
00115         self.assertEquals('10.0', output.strip())
00116         output = Popen([cmd, 'get', "/g1/float"], stdout=PIPE).communicate()[0]
00117         self.assertEquals('10.0', output.strip())
00118         output = Popen([cmd, 'get', "/g2/float"], stdout=PIPE).communicate()[0]
00119         self.assertEquals('20.0', output.strip())
00120         # - dictionary
00121         output = Popen([cmd, 'get', "g1"], stdout=PIPE).communicate()[0]
00122         import yaml
00123         d = yaml.load(output)
00124         self.assertEquals(d['float'], 10.0)
00125         self.assertEquals(d['int'], 10.0)
00126         self.assertEquals(d['string'], "g1-foo-value")
00127         self.assertEquals(set(['float', 'int', 'string']), set(d.keys()))
00128 
00129         # -- don't bother parsing pretty output of dictionary, but check for no errors
00130         check_call([cmd, 'get', '-p', "g1"])
00131         # --- with verbose
00132         check_call([cmd, 'get', '-pv', "g1"])
00133         
00134         # set
00135         # - integers
00136         Popen([cmd, 'set', "/set/test1", "1"], stdout=PIPE).communicate()[0]
00137         self.assertEquals(1, ps.getParam('/set/test1'))
00138         # -- verbose
00139         Popen([cmd, 'set', '-v', "/set/test1", "1"], stdout=PIPE).communicate()[0]
00140         self.assertEquals(1, ps.getParam('/set/test1'))
00141         Popen([cmd, 'set', "set/test1", "2"], stdout=PIPE).communicate()[0]
00142         self.assertEquals(2, ps.getParam('/set/test1'))
00143         # - floats
00144         Popen([cmd, 'set', "/set/test2", "1.0"], stdout=PIPE).communicate()[0]
00145         self.assertEquals(1, ps.getParam('/set/test2'))
00146         Popen([cmd, 'set', "set/test2", "2.0"], stdout=PIPE).communicate()[0]
00147         self.assertEquals(2, ps.getParam('/set/test2'))
00148         # - booleans
00149         Popen([cmd, 'set', "/set/testbool", "true"], stdout=PIPE).communicate()[0]
00150         self.assertEquals(True, ps.getParam('/set/testbool'))
00151         Popen([cmd, 'set', "set/testbool", "false"], stdout=PIPE).communicate()[0]
00152         self.assertEquals(False, ps.getParam('/set/testbool'))
00153         # - strings
00154         #   TODO: test more interesting encodings, like multi-line
00155         Popen([cmd, 'set', "/set/teststr", "hi"], stdout=PIPE).communicate()[0]
00156         self.assertEquals("hi", ps.getParam('/set/teststr'))
00157         Popen([cmd, 'set', "set/teststr", "hello world"], stdout=PIPE).communicate()[0]
00158         self.assertEquals("hello world", ps.getParam('/set/teststr'))
00159         Popen([cmd, 'set', "set/teststr", "'true'"], stdout=PIPE).communicate()[0]
00160         self.assertEquals("true", ps.getParam('/set/teststr'))
00161         # - list
00162         Popen([cmd, 'set', "set/testlist", "[]"], stdout=PIPE).communicate()[0]
00163         self.assertEquals([], ps.getParam('/set/testlist'))
00164         Popen([cmd, 'set', "/set/testlist", "[1, 2, 3]"], stdout=PIPE).communicate()[0]
00165         self.assertEquals([1, 2, 3], ps.getParam('/set/testlist'))
00166         # - dictionary
00167         Popen([cmd, 'set', "/set/testdict", "{a: b, c: d}"], stdout=PIPE).communicate()[0]
00168         self.assertEquals('b', ps.getParam('/set/testdict/a'))
00169         self.assertEquals('d', ps.getParam('/set/testdict/c'))
00170         #   - empty dictionary should be a noop
00171         Popen([cmd, 'set', "set/testdict", "{}"], stdout=PIPE).communicate()[0]
00172         self.assertEquals('b', ps.getParam('/set/testdict/a'))
00173         self.assertEquals('d', ps.getParam('/set/testdict/c'))
00174         #   - this should be an update
00175         Popen([cmd, 'set', "/set/testdict", "{e: f, g: h}"], stdout=PIPE).communicate()[0]
00176         self.assertEquals('b', ps.getParam('/set/testdict/a'))
00177         self.assertEquals('d', ps.getParam('/set/testdict/c'))
00178         self.assertEquals('f', ps.getParam('/set/testdict/e'))
00179         self.assertEquals('h', ps.getParam('/set/testdict/g'))
00180         # -- verbose
00181         check_call([cmd, 'set', '-v', "/set/testdictverbose", "{e: f, g: h}"])
00182         
00183         # delete
00184         ps.setParam('/delete/me', True)
00185         self.assert_(ps.hasParam('/delete/me'))
00186         Popen([cmd, 'delete', "/delete/me"], stdout=PIPE).communicate()[0]
00187         self.failIf(ps.hasParam('/delete/me'))
00188 
00189         # TODO: dump
00190         # TODO: load
00191             
00192 PKG = 'test_rosparam'
00193 NAME = 'test_rosparam_command_line_online'
00194 if __name__ == '__main__':
00195     rostest.run(PKG, NAME, TestRosparamOnline, sys.argv)


test_rosparam
Author(s): Ken Conley
autogenerated on Tue Mar 7 2017 03:45:41