v01

thirdparty/ros/ros_comm/test/test_roslib_comm/CMakeLists.txt

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(test_roslib_comm)
+find_package(catkin REQUIRED COMPONENTS genmsg rosgraph_msgs std_msgs)
+
+if(CATKIN_ENABLE_TESTING)
+  add_message_files(DIRECTORY msg
+    FILES
+    ArrayOfMsgs.msg
+    FieldNameChange1.msg
+    FieldNameChange2.msg
+    FillEmbedTime.msg
+    FillSimple.msg
+    HeaderTest.msg
+    SameSubMsg1.msg
+    SameSubMsg2.msg
+    SameSubMsg3.msg
+    TypeNameChange1.msg
+    TypeNameChange2.msg
+    TypeNameChangeArray1.msg
+    TypeNameChangeArray2.msg
+    TypeNameChangeComplex1.msg
+    TypeNameChangeComplex2.msg
+    NOINSTALL
+    )
+  generate_messages(DEPENDENCIES rosgraph_msgs std_msgs)
+endif()
+
+catkin_package()
+
+if(CATKIN_ENABLE_TESTING)
+  catkin_add_nosetests(test)
+endif()

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/ArrayOfMsgs.msg

@@ -0,0 +1,3 @@
+std_msgs/String[] strings
+std_msgs/Time[] times
+std_msgs/MultiArrayLayout[] muls

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/FieldNameChange1.msg

@@ -0,0 +1 @@
+SameSubMsg1 a

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/FieldNameChange2.msg

@@ -0,0 +1 @@
+SameSubMsg1 b

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/FillEmbedTime.msg

@@ -0,0 +1,5 @@
+time t
+duration d
+std_msgs/String str_msg
+std_msgs/String[] str_msg_array
+int32 i32

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/FillSimple.msg

@@ -0,0 +1,4 @@
+int32 i32
+string str
+int32[] i32_array
+bool b

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/HeaderTest.msg

@@ -0,0 +1,2 @@
+Header header
+int32 i32

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/SameSubMsg1.msg

@@ -0,0 +1,5 @@
+int32 a
+float32 b
+string c
+uint64[10] d
+float64[] e

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/SameSubMsg2.msg

@@ -0,0 +1,5 @@
+int32 a
+float32 b
+string c
+uint64[10] d
+float64[] e

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/SameSubMsg3.msg

@@ -0,0 +1,11 @@
+
+# Lots of comments
+int32 a  #And more comments
+float32 b
+string c
+# And also some white space
+
+
+uint64[10] d
+ float64[] e
+

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/TypeNameChange1.msg

@@ -0,0 +1 @@
+SameSubMsg1 a

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/TypeNameChange2.msg

@@ -0,0 +1 @@
+SameSubMsg2 a

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/TypeNameChangeArray1.msg

@@ -0,0 +1 @@
+SameSubMsg1[] a

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/TypeNameChangeArray2.msg

@@ -0,0 +1 @@
+SameSubMsg2[] a

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/TypeNameChangeComplex1.msg

@@ -0,0 +1,2 @@
+SameSubMsg1[] a
+SameSubMsg2[10] b

thirdparty/ros/ros_comm/test/test_roslib_comm/msg/TypeNameChangeComplex2.msg

@@ -0,0 +1,2 @@
+SameSubMsg2[] a
+SameSubMsg3[10] b

thirdparty/ros/ros_comm/test/test_roslib_comm/package.xml

@@ -0,0 +1,22 @@
+<package>
+  <name>test_roslib_comm</name>
+  <version>1.12.14</version>
+  <description>
+    Unit tests verifying that roslib is operating as expected.
+  </description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url>http://ros.org/wiki/roslib</url>
+  <author>Jeremy Leibs</author>
+  <author>Ken Conley</author>
+
+  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+
+  <build_depend>genmsg</build_depend>
+  <build_depend>rosgraph_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <test_depend>genpy</test_depend>
+  <test_depend>roslib</test_depend>
+</package>

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/different/constants1.txt

@@ -0,0 +1 @@
+int32 x=1

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/different/constants2.txt

@@ -0,0 +1 @@
+int32 x=2

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/different/constants3.txt

@@ -0,0 +1 @@
+int32 x=10

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/different/constantsB1.txt

@@ -0,0 +1,3 @@
+# protect against aliasing
+string s=u
+int32 a

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/different/constantsB2.txt

@@ -0,0 +1,2 @@
+# protect against aliasing
+string s=uint32 a

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/different/fields1.txt

@@ -0,0 +1,3 @@
+int32 a
+int32 b
+int32 c

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/different/fields2.txt

@@ -0,0 +1,2 @@
+int32 a
+int32 b

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/different/fields3.txt

@@ -0,0 +1,4 @@
+int32 a
+int32 b
+int32 c
+int32 d

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/different/fields4.txt

@@ -0,0 +1,3 @@
+int32 a1
+int32 b
+int32 c

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/different/fields5.txt

@@ -0,0 +1,3 @@
+uint32 a
+int32 b
+int32 c

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/constant1.txt

@@ -0,0 +1 @@
+int32 x=123456

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/constant2.txt

@@ -0,0 +1 @@
+int32 x = 123456

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/constant3.txt

@@ -0,0 +1,3 @@
+#x is a value
+int32 x=123456 #a constant
+#i'm done

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/constantB1.txt

@@ -0,0 +1 @@
+string foo="#bar

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/constantB2.txt

@@ -0,0 +1,3 @@
+#blah
+string foo ="#bar
+#b

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/constantC1.txt

@@ -0,0 +1,6 @@
+int32 x=123
+int32 y=234
+int32 z=345
+float32 a=1.0
+float32 b=2.0
+float32 pi=3.14159

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/constantC2.txt

@@ -0,0 +1,6 @@
+int32 x =  123
+int32 y =  234
+int32  z = 345
+float32 a=   1.0
+float32 b= 2.0
+float32  pi =  3.14159

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/embed1.txt

@@ -0,0 +1 @@
+acffd30cd6b6de30f120938c17c593fb log

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/embed2.txt

@@ -0,0 +1 @@
+rosgraph_msgs/Log log

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/embed3.txt

@@ -0,0 +1,3 @@
+#commented
+rosgraph_msgs/Log log
+#another comment

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/embed4.txt

@@ -0,0 +1,4 @@
+#comment. note the stripped package name
+Log  log
+
+#comment

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/empty2.txt

@@ -0,0 +1 @@
+ 

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/empty3.txt

@@ -0,0 +1 @@
+### Just a comment

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/empty4.txt

@@ -0,0 +1,6 @@
+# A comment
+
+# With multiple lines
+
+
+

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/field1.txt

@@ -0,0 +1 @@
+int32 field

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/field2.txt

@@ -0,0 +1,2 @@
+#comment before
+int32 field

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/field3.txt

@@ -0,0 +1,2 @@
+int32 field
+#comment after

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/field4.txt

@@ -0,0 +1 @@
+ int32   field  

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/field5.txt

@@ -0,0 +1,5 @@
+int32 field #field does something
+
+
+
+#the end

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/multi1.txt

@@ -0,0 +1,7 @@
+int32 a
+acffd30cd6b6de30f120938c17c593fb log
+string s
+a9c97c1d230cfc112e270351a944ee47 time
+int32 b
+duration d
+time t

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/multi2.txt

@@ -0,0 +1,14 @@
+# comment about a
+int32 a
+# comment about log
+rosgraph_msgs/Log log
+# comment about s
+string s
+# comment about time
+rosgraph_msgs/Clock time
+# comment about b
+int32 b
+# comment about d
+duration d
+# comment about t
+time t 

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/multi3.txt

@@ -0,0 +1,7 @@
+int32 a
+Log log
+string s
+Clock time
+int32 b
+duration d
+time t 

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/multi4.txt

@@ -0,0 +1,16 @@
+# short comment about a
+int32 a #a
+# short comment about log
+Log log #log
+# 
+# short comment about s
+string s #s
+# short comment about time
+Clock time #time
+# short comment about b
+int32 b #b
+# short comment about d
+duration d #d
+# short comment about t
+time t # t
+

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/md5text/multi5.txt

@@ -0,0 +1,8 @@
+int32  a
+rosgraph_msgs/Log log
+
+string s  
+rosgraph_msgs/Clock  time
+int32 b   
+duration  d
+ time t

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/constant1.txt

@@ -0,0 +1 @@
+int32 x=123456

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/constant2.txt

@@ -0,0 +1 @@
+int32 x = 123456

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/constant3.txt

@@ -0,0 +1,3 @@
+#x is a value
+int32 x=123456 #a constant
+#i'm done

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/constantB1.txt

@@ -0,0 +1 @@
+string foo="#bar

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/constantB2.txt

@@ -0,0 +1,3 @@
+#blah
+string foo ="#bar
+#b

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/constantC1.txt

@@ -0,0 +1,6 @@
+int32 x=123
+int32 y=234
+int32 z=345
+float32 a=1.0
+float32 b=2.0
+float32 pi=3.14159

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/constantC2.txt

@@ -0,0 +1,6 @@
+int32 x =  123
+int32 y =  234
+int32  z = 345
+float32 a=   1.0
+float32 b= 2.0
+float32  pi =  3.14159

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/embed1.txt

@@ -0,0 +1 @@
+rosgraph_msgs/Log log

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/embed2.txt

@@ -0,0 +1 @@
+Log log

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/embed3.txt

@@ -0,0 +1,3 @@
+#commented
+rosgraph_msgs/Log log
+#another comment

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/embed4.txt

@@ -0,0 +1,4 @@
+#comment. note the stripped package name
+Log  log
+
+#comment

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/empty2.txt

@@ -0,0 +1 @@
+ 

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/empty3.txt

@@ -0,0 +1 @@
+### Just a comment

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/empty4.txt

@@ -0,0 +1,6 @@
+# A comment
+
+# With multiple lines
+
+
+

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/field1.txt

@@ -0,0 +1 @@
+int32 field

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/field2.txt

@@ -0,0 +1,2 @@
+#comment before
+int32 field

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/field3.txt

@@ -0,0 +1,2 @@
+int32 field
+#comment after

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/field4.txt

@@ -0,0 +1 @@
+ int32   field  

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/field5.txt

@@ -0,0 +1,5 @@
+int32 field #field does something
+
+
+
+#the end

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/multi1.txt

@@ -0,0 +1,7 @@
+int32 a
+rosgraph_msgs/Log log
+string s
+rosgraph_msgs/Clock time
+int32 b
+duration d
+time t

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/multi2.txt

@@ -0,0 +1,14 @@
+# comment about a
+int32 a
+# comment about log
+rosgraph_msgs/Log log
+# comment about s
+string s
+# comment about time
+rosgraph_msgs/Clock time
+# comment about b
+int32 b
+# comment about d
+duration d
+# comment about t
+time t 

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/multi3.txt

@@ -0,0 +1,7 @@
+int32 a
+Log log
+string s
+Clock time
+int32 b
+duration d
+time t 

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/multi4.txt

@@ -0,0 +1,16 @@
+# short comment about a
+int32 a #a
+# short comment about log
+Log log #log
+# 
+# short comment about s
+string s #s
+# short comment about time
+Clock time #time
+# short comment about b
+int32 b #b
+# short comment about d
+duration d #d
+# short comment about t
+time t # t
+

thirdparty/ros/ros_comm/test/test_roslib_comm/test/md5tests/same/multi5.txt

@@ -0,0 +1,8 @@
+int32  a
+rosgraph_msgs/Log log
+
+string s  
+rosgraph_msgs/Clock  time
+int32 b   
+duration  d
+ time t

thirdparty/ros/ros_comm/test/test_roslib_comm/test/test_md5sums.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import unittest
+from test_roslib_comm.msg import *
+
+
+class TestMd5sums(unittest.TestCase):
+    
+    def test_field_name_change(self):
+        self.assertNotEquals(FieldNameChange1._md5sum, FieldNameChange2._md5sum)
+
+    def test_type_name_change(self):
+        self.assertEquals(TypeNameChange1._md5sum, TypeNameChange2._md5sum)
+
+    def test_type_name_change_array(self):
+        self.assertEquals(TypeNameChangeArray1._md5sum, TypeNameChangeArray2._md5sum)
+
+    def test_type_name_change_complex(self):
+        self.assertEquals(TypeNameChangeComplex1._md5sum, TypeNameChangeComplex2._md5sum)
+

thirdparty/ros/ros_comm/test/test_roslib_comm/test/test_roslib_gentools.py

@@ -0,0 +1,131 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+
+import os
+import string 
+import sys 
+import unittest
+        
+import roslib.names
+import roslib.packages
+
+TEST_CTX = 'rosgraph_msgs'
+
+import roslib
+PKG='test_roslib_comm'
+
+class TestGentools(unittest.TestCase):
+
+    def setUp(self):
+        pass
+        
+    def _load_md5_tests(self, dir):
+        test_dir = os.path.join(roslib.packages.get_pkg_dir(PKG), 'test', 'md5tests', dir)
+        tests = {}
+        for f in os.listdir(test_dir):
+            path = os.path.join(test_dir, f)
+            if not f.endswith('.txt'):
+                continue
+            name = f[:-4]
+            while name and name[-1].isdigit():
+                name = name[:-1]
+            self.assert_(name)
+            if name in tests:
+                tests[name].append(path)
+            else:
+                tests[name] = [path]
+        return tests
+    
+    def _compute_md5(self, f):
+        from roslib.gentools import compute_md5, get_dependencies
+        from roslib.msgs import load_from_string
+
+        text = open(f, 'r').read()
+        spec = load_from_string(text, package_context=TEST_CTX) 
+        get_deps_dict = get_dependencies(spec, TEST_CTX, compute_files=False)
+        return compute_md5(get_deps_dict)
+        
+    def _compute_md5_text(self, f):
+        from roslib.gentools import compute_md5_text, get_dependencies
+        from roslib.msgs import load_from_string
+
+        text = open(f, 'r').read()
+        spec = load_from_string(text, package_context=TEST_CTX)
+        get_deps_dict = get_dependencies(spec, TEST_CTX, compute_files=False)
+        return compute_md5_text(get_deps_dict, spec)
+
+    def test_compute_md5_text(self):
+        from std_msgs.msg import Header
+        Header_md5 = Header._md5sum
+        rg_msg_dir = os.path.join(roslib.packages.get_pkg_dir(TEST_CTX), 'msg')
+        clock_msg = os.path.join(rg_msg_dir, 'Clock.msg')
+        # a bit gory, but go ahead and regression test these important messages
+        self.assertEquals("time clock", self._compute_md5_text(clock_msg))
+        log_msg = os.path.join(rg_msg_dir, 'Log.msg')
+        self.assertEquals("byte DEBUG=1\nbyte INFO=2\nbyte WARN=4\nbyte ERROR=8\nbyte FATAL=16\n%s header\nbyte level\nstring name\nstring msg\nstring file\nstring function\nuint32 line\nstring[] topics"%Header_md5, self._compute_md5_text(log_msg))
+
+        tests = self._load_md5_tests('md5text')
+        # text file #1 is the reference
+        for k, files in tests.items():
+            print("running tests", k)
+            ref_file = [f for f in files if f.endswith('%s1.txt'%k)]
+            if not ref_file:
+                self.fail("failed to load %s"%k)
+            ref_file = ref_file[0]
+            ref_text = open(ref_file, 'r').read().strip()
+            print("KEY", k)
+            files = [f for f in files if not f.endswith('%s1.txt'%k)]
+            for f in files[1:]:
+                f_text = self._compute_md5_text(f)
+                self.assertEquals(ref_text, f_text, "failed on %s\n%s\n%s: \n[%s]\nvs.\n[%s]\n"%(k, ref_file, f, ref_text, f_text))
+        
+    def test_md5_equals(self):
+        tests = self._load_md5_tests('same')
+        for k, files in tests.items():
+            print("running tests", k)
+            md5sum = self._compute_md5(files[0])
+            for f in files[1:]:
+                self.assertEquals(md5sum, self._compute_md5(f), "failed on %s: \n[%s]\nvs.\n[%s]\n"%(k, self._compute_md5_text(files[0]), self._compute_md5_text(f)))
+    
+    def test_md5_not_equals(self):
+        tests = self._load_md5_tests('different')
+        for k, files in tests.items():
+            print("running tests", k)
+            md5s = set()
+            md6md5sum = self._compute_md5(files[0])
+            for f in files:
+                md5s.add(self._compute_md5(f))
+            # each md5 should be unique
+            self.assertEquals(len(md5s), len(files))

thirdparty/ros/ros_comm/test/test_roslib_comm/test/test_roslib_message.py

@@ -0,0 +1,120 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+
+import os
+import sys
+import time
+import unittest
+import traceback
+
+import yaml
+
+import roslib.message
+import genpy
+from genpy import Time, Duration
+
+# Not much to test, just tripwires
+
+class MessageTest(unittest.TestCase):
+    
+    def test_check_types_Header(self):
+        # #2128: test that check_types works with a Header
+        # #message. This is a weird case because Header has an aliased
+        # #type and is the only ROS type for which that is true
+        from test_roslib_comm.msg import HeaderTest
+        x = HeaderTest()
+        x._check_types()
+        
+    def test_strify_message(self):
+        from genpy.message import Message, strify_message, fill_message_args
+        def roundtrip(m):
+            yaml_text = strify_message(m)
+            print(yaml_text)
+            loaded = yaml.load(yaml_text) 
+            print("loaded", loaded)
+            new_inst = m.__class__()
+            if loaded is not None:
+                fill_message_args(new_inst, [loaded])
+            else:
+                fill_message_args(new_inst, [])                
+            return new_inst
+
+        # The following tests have not been ported to genpy yet
+
+        # test array of Messages field. We can't use M4 or M5 because fill_message_args has to instantiate the embedded type
+        from test_roslib_comm.msg import ArrayOfMsgs
+        from std_msgs.msg import String, Time, MultiArrayLayout, MultiArrayDimension
+        dims1 = [MultiArrayDimension(*args) for args in [('', 0, 0), ('x', 1, 2), ('y of z', 3, 4)]]
+        dims2 = [MultiArrayDimension('hello world', 91280, 1983274)]
+        times = [Time(genpy.Time(*args)) for args in [(0,), (12345, 6789), (1, 1)]]
+        val = ArrayOfMsgs([String(''), String('foo'), String('bar of soap')],
+                          times,
+                          [MultiArrayLayout(dims1, 0), MultiArrayLayout(dims2, 12354)],
+                          )
+        self.assertEquals(val, roundtrip(val))
+        
+
+    def test_get_message_class(self):
+        from roslib.message import get_message_class
+      
+        try:
+            self.assertEquals(None, get_message_class('String'))
+            self.fail("should have thrown ValueError")
+        except ValueError: pass
+        # non-existent package
+        self.assertEquals(None, get_message_class('fake/Fake'))
+        # non-existent message
+        self.assertEquals(None, get_message_class('roslib/Fake'))
+        # package with no messages
+        self.assertEquals(None, get_message_class('genmsg_cpp/Fake'))
+    
+        import rosgraph_msgs.msg
+        import std_msgs.msg
+        self.assertEquals(std_msgs.msg.Header, get_message_class('Header'))
+        self.assertEquals(std_msgs.msg.Header, get_message_class('std_msgs/Header'))
+        self.assertEquals(rosgraph_msgs.msg.Log, get_message_class('rosgraph_msgs/Log'))    
+
+    def test_get_service_class(self):
+        from roslib.message import get_service_class
+
+        # non-existent package
+        self.assertEquals(None, get_service_class('fake/Fake'))
+        # non-existent message
+        self.assertEquals(None, get_service_class('roslib/Fake'))
+        # package with no messages
+        self.assertEquals(None, get_service_class('genmsg_cpp/Fake'))
+    
+        import std_srvs.srv 
+        self.assertEquals(std_srvs.srv.Empty, get_service_class('std_srvs/Empty'))    
+

thirdparty/ros/ros_comm/test/test_roslib_comm/test/test_roslib_msgs.py

@@ -0,0 +1,275 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+import sys
+import unittest
+
+import roslib
+PKG='test_roslib_comm'
+class MsgSpecTest(unittest.TestCase):
+
+  def test_verbose(self):
+    import roslib.msgs
+    self.failIf(roslib.msgs.is_verbose())
+    roslib.msgs.set_verbose(True)
+    self.assert_(roslib.msgs.is_verbose())
+    roslib.msgs.set_verbose(False)    
+    self.failIf(roslib.msgs.is_verbose())
+    
+  def test_base_msg_type(self):
+    import roslib.msgs    
+    tests = [(None, None), ('String', 'String'), ('std_msgs/String', 'std_msgs/String'),
+             ('String[10]', 'String'), ('string[10]', 'string'), ('std_msgs/String[10]', 'std_msgs/String'),
+             ]
+    for val, res in tests:
+      self.assertEquals(res, roslib.msgs.base_msg_type(val))
+
+  def test_resolve_type(self):
+    from roslib.msgs import resolve_type
+    for t in ['string', 'string[]', 'string[14]', 'int32', 'int32[]']:
+      bt = roslib.msgs.base_msg_type(t)
+      self.assertEquals(t, resolve_type(t, PKG))
+      
+    self.assertEquals('foo/string', resolve_type('foo/string', PKG))
+    self.assertEquals('std_msgs/Header', resolve_type('Header', 'roslib'))
+    self.assertEquals('std_msgs/Header', resolve_type('std_msgs/Header', 'roslib'))
+    self.assertEquals('std_msgs/Header', resolve_type('Header', 'stereo_msgs'))
+    self.assertEquals('std_msgs/String', resolve_type('String', 'std_msgs'))    
+    self.assertEquals('std_msgs/String', resolve_type('std_msgs/String', 'std_msgs'))
+    self.assertEquals('std_msgs/String', resolve_type('std_msgs/String', PKG))    
+    self.assertEquals('std_msgs/String[]', resolve_type('std_msgs/String[]', PKG))
+    
+  def test_parse_type(self):
+    tests = [
+      ('a', ('a', False, None)),
+      ('int8', ('int8', False, None)),      
+      ('std_msgs/String', ('std_msgs/String', False, None)),
+      ('a[]', ('a', True, None)),
+      ('int8[]', ('int8', True, None)),      
+      ('std_msgs/String[]', ('std_msgs/String', True, None)),
+      ('a[1]', ('a', True, 1)),
+      ('int8[1]', ('int8', True, 1)),      
+      ('std_msgs/String[1]', ('std_msgs/String', True, 1)),
+      ('a[11]', ('a', True, 11)),
+      ('int8[11]', ('int8', True, 11)),      
+      ('std_msgs/String[11]', ('std_msgs/String', True, 11)),
+      ]
+    for val, res in tests:
+      self.assertEquals(res, roslib.msgs.parse_type(val))
+    
+    fail = ['a[1][2]', 'a[][]', '', None, 'a[', 'a[[1]', 'a[1]]']
+    for f in fail:
+      try:
+        roslib.msgs.parse_type(f)
+        self.fail("should have failed on " +f)
+      except roslib.msgs.MsgSpecException: pass
+
+  def test_Constant(self):
+    import random
+    import roslib.msgs    
+    vals = [random.randint(0, 1000) for i in range(0, 3)]
+    type_, name, val = [str(x) for x in vals]
+    x = roslib.msgs.Constant(type_, name, val, str(val))
+    self.assertEquals(type_, x.type)
+    self.assertEquals(name, x.name)
+    self.assertEquals(val, x.val)
+    self.assertEquals(roslib.msgs.Constant(type_, name, val, str(val)), x)
+
+    self.assertNotEquals(1, x)
+    self.assertNotEquals(roslib.msgs.Constant('baz', name, val, str(val)), x)
+    self.assertNotEquals(roslib.msgs.Constant(type_, 'foo', val, str(val)), x)
+    self.assertNotEquals(roslib.msgs.Constant(type_, name, 'foo', 'foo'), x)
+
+    # tripwire
+    self.assert_(repr(x))
+    self.assert_(str(x))    
+    
+    try:
+      roslib.msgs.Constant(None, name, val, str(val))
+    except: pass
+    try:
+      roslib.msgs.Constant(type_, None, val, str(val))
+    except: pass
+    try:
+      roslib.msgs.Constant(type_, name, None, 'None')      
+    except: pass
+    try:
+      roslib.msgs.Constant(type_, name, val, None)      
+    except: pass
+    
+    try:
+      x.foo = 'bar'
+      self.fail('Constant should not allow arbitrary attr assignment')
+    except: pass
+    
+  def test_MsgSpec(self):
+    def sub_test_MsgSpec(types, names, constants, text, has_header):
+      m = MsgSpec(types, names, constants, text)
+      self.assertEquals(m.types, types)
+      self.assertEquals(m.names, names)
+      self.assertEquals(m.text, text)
+      self.assertEquals(has_header, m.has_header())
+      self.assertEquals(m.constants, constants)
+      self.assertEquals(list(zip(types, names)), m.fields())
+      self.assertEquals(m, MsgSpec(types, names, constants, text))
+      return m
+    
+    from roslib.msgs import MsgSpec
+    # allow empty msg
+    empty = sub_test_MsgSpec([], [], [], '', False)
+    self.assertEquals([], empty.fields())    
+
+    # one-field
+    one_field = sub_test_MsgSpec(['int32'], ['x'], [], 'int32 x', False)
+    # make sure that equals tests every declared field
+    self.assertEquals(one_field, MsgSpec(['int32'], ['x'], [], 'int32 x'))
+    self.assertNotEquals(one_field, MsgSpec(['uint32'], ['x'], [], 'int32 x'))
+    self.assertNotEquals(one_field, MsgSpec(['int32'], ['y'], [], 'int32 x'))
+    self.assertNotEquals(one_field, MsgSpec(['int32'], ['x'], [], 'uint32 x'))
+    # test against __ne__ as well
+    self.assert_(one_field != MsgSpec(['int32'], ['x'], [], 'uint32 x'))
+    #test strify
+    self.assertEquals("int32 x", str(one_field).strip())
+    
+    # test variations of multiple fields and headers
+    two_fields = sub_test_MsgSpec(['int32', 'string'], ['x', 'str'], [], 'int32 x\nstring str', False)
+    one_header = sub_test_MsgSpec(['Header'], ['header'], [], 'Header header', True)
+    header_and_fields = sub_test_MsgSpec(['Header', 'int32', 'string'], ['header', 'x', 'str'], [], 'Header header\nint32 x\nstring str', True)
+    embed_types = sub_test_MsgSpec(['Header', 'std_msgs/Int32', 'string'], ['header', 'x', 'str'], [], 'Header header\nstd_msgs/Int32 x\nstring str', True)
+    #test strify
+    self.assertEquals("int32 x\nstring str", str(two_fields).strip())
+
+    # types and names mismatch
+    try:
+      MsgSpec(['int32', 'int32'], ['intval'], [], 'int32 intval\int32 y')
+      self.fail("types and names must align")
+    except: pass
+
+    # test (not) equals against non msgspec
+    self.failIf(one_field == 1)
+    self.assert_(one_field != 1)    
+    #TODO: test flatten
+
+    # test that repr doesn't throw an error
+    [repr(x) for x in [empty, one_field, one_header, two_fields, embed_types]]
+
+  def test_init(self):
+    import roslib.msgs    
+    roslib.msgs._initialized = False
+    roslib.msgs._init()
+    self.assert_(roslib.msgs._initialized)
+    # test repeated initialization
+    roslib.msgs._init()    
+
+  def test___convert_val(self):
+    from roslib.msgs import _convert_val, MsgSpecException
+    self.assertEquals(0., _convert_val('float32', '0.0'))
+    self.assertEquals(0., _convert_val('float64', '0.0'))
+    
+    self.assertEquals('fo o', _convert_val('string', '   fo o '))
+
+    self.assertEquals(1, _convert_val('byte', '1'))
+    self.assertEquals(1, _convert_val('char', '1'))
+    self.assertEquals(1, _convert_val('int8', '1'))
+    self.assertEquals(12, _convert_val('int16', '12'))
+    self.assertEquals(-13, _convert_val('int32', '-13'))
+    self.assertEquals(14, _convert_val('int64', '14'))
+    self.assertEquals(0, _convert_val('uint8', '0'))
+    self.assertEquals(18, _convert_val('uint16', '18'))
+    self.assertEquals(19, _convert_val('uint32', '19'))    
+    self.assertEquals(20, _convert_val('uint64', '20'))
+
+    width_fail = [('int8', '129'), ('uint8', '256'),
+                  ('int16', '35536'), ('uint16', '-1'),('uint16', '65536'),
+                  ('int32', '3000000000'),('int32', '-2700000000'),
+                  ('uint32', '-1'),('uint32', '41000000000'),
+                  ('uint64', '-1')]
+    for t, v in width_fail:
+      try:
+        _convert_val(t, v)
+        self.fail("should have failed width check: %s, %s"%(t, v))
+      except MsgSpecException: pass
+    type_fail = [('int32', 'f'), ('float32', 'baz')]
+    for t, v in type_fail:
+      try:
+        _convert_val(t, v)
+        self.fail("should have failed type check: %s, %s"%(t, v))
+      except ValueError: pass
+    try:
+      _convert_val('foo', '1')
+      self.fail("should have failed invalid type")
+    except MsgSpecException: pass
+    
+  def test_msg_file(self):
+    import roslib.msgs    
+    f = roslib.msgs.msg_file('rosgraph_msgs', 'Log')
+    self.assert_(os.path.isfile(f))
+    self.assert_(f.endswith('rosgraph_msgs/msg/Log.msg'))
+
+    # msg_file should return paths even for non-existent resources
+    f = roslib.msgs.msg_file('roslib', 'Fake')
+    self.failIf(os.path.isfile(f))
+    self.assert_(f.endswith('roslib/msg/Fake.msg'))
+
+  def test_is_valid_msg_type(self):
+    import roslib.msgs
+    vals = [
+      #basic
+      'F', 'f', 'Foo', 'Foo1',
+      'std_msgs/String',
+      # arrays
+      'Foo[]', 'Foo[1]', 'Foo[10]',
+      ]
+    for v in vals:
+      self.assert_(roslib.msgs.is_valid_msg_type(v), "roslib.msgs.is_valid_msg_type should have returned True for '%s'"%v)
+ 
+    # bad cases
+    vals = [None, '', '#', '%', 'Foo%', 'Woo Woo',
+            '/', '/String', 
+            'Foo[f]', 'Foo[1d]', 'Foo[-1]', 'Foo[1:10]', 'Foo[', 'Foo]', 'Foo[]Bar']
+    for v in vals:
+      self.failIf(roslib.msgs.is_valid_msg_type(v), "roslib.msgs.is_valid_msg_type should have returned False for '%s'"%v)
+      
+  def test_is_valid_constant_type(self):
+    import roslib.msgs
+    valid = ['int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', \
+             'uint64', 'float32', 'float64', 'char', 'byte', 'string']
+    invalid = [
+      'std_msgs/String', '/', 'String',
+      'time', 'duration','header',
+    ]
+    for v in valid:
+      self.assert_(roslib.msgs.is_valid_constant_type(v), "roslib.msgs.is_valid_constant_type should have returned True for '%s'"%v)
+    for v in invalid:
+      self.failIf(roslib.msgs.is_valid_constant_type(v), "roslib.msgs.is_valid_constant_type should have returned False for '%s'"%v)
+    

thirdparty/ros/ros_comm/test/test_roslib_comm/test/test_roslib_srvs.py

@@ -0,0 +1,130 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2011, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+import sys
+import unittest
+
+import roslib.packages
+
+class RoslibSrvTest(unittest.TestCase):
+  
+    def test_SrvSpec(self):
+        from roslib.msgs import MsgSpec
+        from roslib.srvs import SrvSpec
+
+        types = ['int32']
+        names = ['a']
+        constants = []
+        text = 'int32 a'
+        msg_a = MsgSpec(types, names, constants, text)
+
+        types = ['int64']
+        names = ['b']
+        constants = []
+        text = 'int64 b'
+        msg_b = MsgSpec(types, names, constants, text)
+
+        text = msg_a.text + '\n---\n' + msg_b.text
+        spec = SrvSpec(msg_a, msg_b, text)
+        self.assertEquals(msg_a, spec.request)
+        self.assertEquals(msg_b, spec.response)
+        self.assertEquals(text, spec.text)
+        self.assertEquals('', spec.full_name)
+        self.assertEquals('', spec.short_name)
+        self.assertEquals('',spec.package)
+        
+        # tripwire
+        self.assert_(repr(spec))
+        self.assert_(str(spec))
+
+        # exercise eq
+        self.assertNotEquals(spec, 'spec')
+        self.assert_(spec != 'spec')
+        
+        spec2 = SrvSpec(msg_a, msg_b, text)
+        self.assertEquals(spec, spec2)
+        self.failIf(spec != spec2)
+        
+        # - full_name
+        spec2.full_name = 'something'
+        self.assertNotEquals(spec, spec2)        
+        spec2.full_name = ''        
+        self.assertEquals(spec, spec2)
+        # - short_name
+        spec2.short_name = 'something'
+        self.assertNotEquals(spec, spec2)        
+        spec2.short_name = ''        
+        self.assertEquals(spec, spec2)
+        # - package
+        spec2.package = 'something'
+        self.assertNotEquals(spec, spec2)        
+        spec2.package = ''        
+        self.assertEquals(spec, spec2)
+        
+    def test_srv_file(self):
+        from roslib.srvs import srv_file
+        
+        d = roslib.packages.get_pkg_dir('test_rosmaster')
+        filename = os.path.join(d, 'srv', 'AddTwoInts.srv')
+        with open(filename, 'r') as f:
+            text = f.read()
+
+        self.assertEquals(filename, srv_file('test_rosmaster', 'AddTwoInts'))
+        
+    def test_load_from_file(self):
+        from roslib.srvs import load_from_file, set_verbose
+        
+        d = roslib.packages.get_pkg_dir('test_rosmaster')
+        filename = os.path.join(d, 'srv', 'AddTwoInts.srv')
+        with open(filename, 'r') as f:
+            text = f.read()
+        
+        name, spec = load_from_file(filename)
+        self.assertEquals('AddTwoInts', name)
+        self.assertEquals(['int64', 'int64'], spec.request.types)
+        self.assertEquals(['a', 'b'], spec.request.names)
+        self.assertEquals(text, spec.text)
+        
+        name2, spec2 = load_from_file(filename, package_context='foo')
+        self.assertEquals('foo/AddTwoInts', name2)
+        name2, spec2 = load_from_file(filename, package_context='foo/')
+        self.assertEquals('foo/AddTwoInts', name2)
+        name2, spec2 = load_from_file(filename, package_context='foo//')
+        self.assertEquals('foo/AddTwoInts', name2)
+
+        # test with verbose on
+        set_verbose(True)
+        name3, spec3 = load_from_file(filename)
+        self.assertEquals(name, name3)
+        self.assertEquals(spec, spec3)        
+