v01

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

@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(test_rosgraph)
+find_package(catkin REQUIRED COMPONENTS rostest)
+catkin_package()
+
+if(CATKIN_ENABLE_TESTING)
+  add_rostest(test/masterapi.test)
+endif()

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

@@ -0,0 +1,16 @@
+<package>
+  <name>test_rosgraph</name>
+  <version>1.12.14</version>
+  <description>
+    Tests for rosgraph which depend on rostest.
+  </description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>BSD</license>
+
+  <url>http://ros.org/wiki/rosgraph</url>
+  <author>Ken Conley</author>
+
+  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+
+  <build_depend>rostest</build_depend>
+</package>

thirdparty/ros/ros_comm/test/test_rosgraph/test/masterapi.test

@@ -0,0 +1,3 @@
+<launch>
+  <test test-name="rosgraph_masterapi_online" pkg="test_rosgraph" type="test_rosgraph_masterapi_online.py" />
+</launch>

thirdparty/ros/ros_comm/test/test_rosgraph/test/test_rosgraph_masterapi_online.py

@@ -0,0 +1,138 @@
+#!/usr/bin/env python
+# 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 rosgraph.masterapi
+import rostest
+
+_ID = '/caller_id'
+
+class MasterApiOnlineTest(unittest.TestCase):
+  
+    def setUp(self):
+        self.m = rosgraph.masterapi.Master(_ID)
+
+    def test_getPid(self):
+        val = self.m.getPid()
+        val = int(val)
+
+    def test_getUri(self):
+        val = self.m.getUri()
+        self.assert_(val.startswith('http://'))
+        
+    def test_lookupService(self):
+        uri = 'http://localhost:897'
+        rpcuri = 'rosrpc://localhost:9812'
+        self.m.registerService('/bar/service', rpcuri, uri)
+        self.assertEquals(rpcuri, self.m.lookupService('/bar/service'))
+        try:
+            self.assertEquals(uri, self.m.lookupService('/fake/service'))
+            self.fail("should have thrown")
+        except rosgraph.masterapi.Error:
+            pass
+
+    def test_registerService(self):
+        self.m.registerService('/bar/service', 'rosrpc://localhost:9812', 'http://localhost:893')
+
+    def test_unregisterService(self):
+        self.m.registerService('/unreg_service/service', 'rosrpc://localhost:9812', 'http://localhost:893')
+        val = self.m.registerService('/unreg_service/service', 'rosrpc://localhost:9812', 'http://localhost:893')
+        self.assertEquals(1, val)
+        
+    def test_registerSubscriber(self):
+        val = self.m.registerSubscriber('/reg_sub/node', 'std_msgs/String', 'http://localhost:9812')
+        self.assertEquals([], val)
+
+    def test_unregisterSubscriber(self):
+        self.m.registerSubscriber('/reg_unsub/node', 'std_msgs/String', 'http://localhost:9812')
+        val = self.m.unregisterSubscriber('/reg_unsub/node', 'http://localhost:9812')
+        self.assertEquals(1, val)
+
+    def test_registerPublisher(self):
+        val = self.m.registerPublisher('/reg_pub/topic', 'std_msgs/String', 'http://localhost:9812')
+
+    def test_unregisterPublisher(self):
+        uri = 'http://localhost:9812'
+        self.m.registerPublisher('/unreg_pub/fake_topic', 'std_msgs/String', uri)
+        self.m.unregisterPublisher('/unreg_pub/fake_topic', uri)
+
+    def test_lookupNode(self):
+        # register and lookup self
+        uri = 'http://localhost:12345'
+        self.m.registerPublisher('fake_topic', 'std_msgs/String', uri)
+        self.assertEquals(uri, self.m.lookupNode(_ID))
+        
+        try:
+            self.m.lookupNode('/non/existent')
+            self.fail("should have thrown")
+        except rosgraph.masterapi.Error:
+            pass
+        
+    def test_getPublishedTopics(self):
+        topics = self.m.getPublishedTopics('/')
+
+    def test_getTopicTypes(self):
+        topic_types = self.m.getTopicTypes()
+        
+    def test_getSystemState(self):
+        pub, sub, srvs = self.m.getSystemState()
+
+    def test_is_online(self):
+        self.assert_(rosgraph.masterapi.is_online())
+        self.assert_(self.m.is_online())        
+
+    def test_getParam(self):
+        try:
+            self.m.getParam('fake_param')
+            self.fail("should have failed to lookup fake parameter")
+        except rosgraph.masterapi.Error:
+            pass
+
+    def test_hasParam(self):
+        self.failIf(self.m.hasParam('fake_param'), "should have failed to lookup fake parameter")
+        self.assert_(self.m.hasParam('/run_id'), "should have failed to lookup fake parameter")
+
+    def test_setParam(self):
+        self.m.setParam('/foo', 1)
+        
+    def test_searchParam(self):
+        self.assertEquals("/run_id", self.m.searchParam('run_id'))
+
+    def test_getParamNames(self):
+        self.assert_(type(self.m.getParamNames()) == list)
+        
+if __name__ == '__main__':
+    rostest.rosrun('test_rosgrap', 'test_rosgraph_masterapi_online', MasterApiOnlineTest)