def test_get_included_files(self):
path = interpret_path(
"$(find fkie_node_manager_daemon)/tests/resources/include_dummy.launch"
)
file_list = [
file_tuple for file_tuple in self.ls.get_included_files_set(
path, recursive=True, include_pattern=[])
]
# for linenr, path, exists, file_list in inc_files:
self.assertEqual(
len(file_list), 5,
"Count of unique included, recursive files is wrong, got: %d, expected: %d"
% (len(file_list), 5))
file_list = [
file_tuple for file_tuple in self.ls.get_included_files_set(
path, recursive=False, include_pattern=[])
]
self.assertEqual(
len(file_list), 3,
"Count of unique included files while not recursive search is wrong, got: %d, expected: %d"
% (len(file_list), 3))
file_list = [
file_tuple for file_tuple in self.ls.get_included_files(
path, recursive=False, include_pattern=[])
]
self.assertEqual(
len(file_list), 6,
"Count of recursive, not unique included files is wrong, got: %d, expected: %d"
% (len(file_list), 6))
file_list = [
file_tuple for file_tuple in self.ls.get_included_files(
path, recursive=True, include_pattern=[])
]
self.assertEqual(
len(file_list), 10,
"Count of recursive included files is wrong, got: %d, expected: %d"
% (len(file_list), 10))
self.assertEqual(
file_list[0].line_number, 6,
"Wrong line number of first included file, got: %d, expected: %d" %
(file_list[0].line_number, 6))
#self.assertEqual(file_list[0][1], file_list[0][3][0][1], "Wrong root path of second included file, expected: %s, got: %s" % (file_list[0][1], file_list[0][3][0][1]))
self.assertEqual(
file_list[1].line_number, 4,
"Wrong line number of second included file, got: %d, expected: %d"
% (file_list[1].line_number, 4))
self.assertEqual(
file_list[2].line_number, 10,
"Wrong line number of third included file, got: %d, expected: %d" %
(file_list[2].line_number, 10))
def test_save_content(self):
fs = FileServicer()
test_data = b'This is a test file for save content test.'
content = fmsg.SaveFileContentRequest()
content.file.path = self.test_save_content_path
content.file.mtime = 1.0 # something not zero to update a not existing file
content.file.size = len(test_data)
content.file.data = test_data
save_response = next(fs.SaveFileContent([content], DummyContext()))
self.assertEqual(save_response.status.code, fmsg.ReturnStatus.StatusType.Value('REMOVED_FILE'), "wrong status code '%d' if file was removed in meantime." % save_response.status.code)
# save new file
content.file.mtime = 0
save_response = next(fs.SaveFileContent([content], DummyContext()))
self.assertEqual(save_response.status.code, fmsg.ReturnStatus.StatusType.Value('OK'), 'new file was not saved')
self.assertTrue(os.path.exists(self.test_save_content_path), 'new file was not saved to %s' % self.test_save_content_path)
self.assertEqual(save_response.ack.mtime, os.path.getmtime(self.test_save_content_path), 'wrong mtime returned after create a new file')
# sleep to change the mtime in file
time.sleep(0.3)
# change file in meantime
new_utime = time.time()
os.utime(self.test_save_content_path, (new_utime, new_utime))
new_test_data = b'This is a changed text for save content test.'
content.file.mtime = save_response.ack.mtime
content.file.size = len(new_test_data)
content.file.data = new_test_data
save_response = next(fs.SaveFileContent([content], DummyContext()))
self.assertEqual(save_response.status.code, fmsg.ReturnStatus.StatusType.Value('CHANGED_FILE'), 'wrong status code if file was changed in meantime.')
# overwrite the changed file
content.overwrite = True
save_response = next(fs.SaveFileContent([content], DummyContext()))
self.assertEqual(save_response.status.code, fmsg.ReturnStatus.StatusType.Value('OK'), 'file was not overwritten')
self.assertEqual(save_response.ack.mtime, os.path.getmtime(self.test_save_content_path), 'wrong mtime returned after overwrite file')
with FileIO(self.test_save_content_path, 'r') as outfile:
self.assertEqual(new_test_data, outfile.read(), 'wrong content in file')
# try to save in root folder
content.file.path = '/content_test.txt'
content.file.mtime = 0
save_response = next(fs.SaveFileContent([content], DummyContext()))
if save_response.status.code == fmsg.ReturnStatus.StatusType.Value('OK'):
# test in industrial ci, use source folder
content.file.path = interpret_path('$(find fkie_node_manager_daemon)/') + content.file.path
save_response = next(fs.SaveFileContent([content], DummyContext()))
self.assertEqual(save_response.status.code, fmsg.ReturnStatus.StatusType.Value('IO_ERROR'), 'save in root folder returns a wrong result: %d, expected: %d' % (save_response.status.code, fmsg.ReturnStatus.StatusType.Value('IO_ERROR')))
# save file in more chunks
test_data = [b'First line.\n', b'Second line.\n', b'Third line.\n']
for resp in fs.SaveFileContent(self._read_from_list(test_data, self.test_save_content_path), DummyContext()):
self.assertEqual(resp.status.code, fmsg.ReturnStatus.StatusType.Value('OK'), 'file was not overwritten, result code: %d' % resp.status.code)
self.assertEqual(resp.ack.size, self.current_pose, 'incorrect transferred file size: %d, expected: %d' % (resp.ack.size, self.current_pose))
with FileIO(self.test_save_content_path, 'r') as outfile:
self.assertEqual(str(test_data), str(outfile.readlines()), 'wrong content in file')
def test_reload_launch(self):
path = interpret_path(
"$(find fkie_node_manager_daemon)/tests/resources/include_dummy.launch"
)
try:
launch_file, _argv = self.ls.reload_launch(path)
self.fail(
"`load_launch` did not raises `exceptions.ResourceNotFoundt` on reload launch file"
)
except exceptions.ResourceNotFound as rnf:
pass
except Exception as err:
self.fail(
"`load_launch` raises wrong Exception on reload launch file, got: %s, expected: `exceptions.ResourceNotFoundt`: %s"
% (type(err), err))
def test_interpret_path(self):
text_path = "$(find fkie_node_manager_daemon)/%s/include_dummy.launch" % self.res_dir
path = interpret_path(text_path)
self.assertEqual(
self.test_include_file, path,
"wrong interpreted path, expected: %s, got: %s" %
(self.test_include_file, path))
text_path = "resources/include_dummy.launch"
path = interpret_path(text_path, self.nm_path)
exp_path = os.path.join(self.nm_path, text_path)
self.assertEqual(
exp_path, path,
"wrong interpreted relative path, expected: %s, got: %s" %
(exp_path, path))
text_path = "pkg://fkie_node_manager_daemon/%s/include_dummy.launch" % self.res_dir
path = interpret_path(text_path, self.nm_path)
self.assertEqual(
self.test_include_file, path,
"wrong interpreted pkg:// path, expected: %s, got: %s" %
(self.test_include_file, path))
text_path = "package://fkie_node_manager_daemon/%s/include_dummy.launch" % self.res_dir
path = interpret_path(text_path, self.nm_path)
self.assertEqual(
self.test_include_file, path,
"wrong interpreted package:// path, expected: %s, got: %s" %
(self.test_include_file, path))
text_path = "file://tests/resources/include_dummy.launch"
path = interpret_path(text_path, self.nm_path)
self.assertEqual(
self.test_include_file, path,
"wrong interpreted file:// path, expected: %s, got: %s" %
(self.test_include_file, path))
text_path = "pkg://fkie_node_manager_daemon///include_dummy.launch"
path = interpret_path(text_path, self.nm_path)
self.assertEqual(
self.test_include_file, path,
"wrong interpreted path with replace the subdirectory by `///`, expected: %s, got: %s"
% (self.test_include_file, path))
text_path = "$(find invalid_name)/%s/include_dummy.launch" % self.res_dir
self.assertRaises(
rospkg.ResourceNotFound, interpret_path, text_path,
"No rospkg.ResourceNotFound raises on invalid pacakge name")
text_path = "some other --args here '$(find fkie_node_manager_daemon)/%s/include_dummy.launch'" % self.res_dir
path = interpret_path(text_path)
self.assertEqual(
self.test_include_file, path,
"wrong interpreted path, expected: %s, got: %s" %
(self.test_include_file, path))
def _test_load_launch(self, unload=True):
args = {}
path = ''
request_args = True
nexttry = True
ok = False
launch_file = ''
package = 'fkie_node_manager_daemon'
launch = 'description_example.launch'
try:
launch_file, _argv = self.ls.load_launch(package, launch, path=path, args=args, request_args=request_args)
self.fail("`load_launch` did not raises `exceptions.LaunchSelectionRequest` on multiple launch files")
except exceptions.LaunchSelectionRequest as _lsr:
path = interpret_path("$(find fkie_node_manager_daemon)/tests/resources/description_example.launch")
except Exception as err:
self.fail("`load_launch` raises wrong Exception on multiple launch files, got: %s, expected: `exceptions.LaunchSelectionRequest`: %s" % (type(err), err))
try:
launch_file, _argv = self.ls.load_launch(package, launch, path=path, args=args, request_args=request_args)
self.fail("`load_launch` did not raises `exceptions.ParamSelectionRequest` on args requests")
except exceptions.AlreadyOpenException as aoe:
# it is already open from other tests
return
except exceptions.ParamSelectionRequest as psr:
request_args = False
args = psr.choices
except Exception as err:
import traceback
self.fail("`load_launch` raises wrong Exception on args requests, got: %s, expected: `exceptions.ParamSelectionReques`: %s" % (type(err), traceback.format_exc()))
request_args = False
try:
launch_file, _argv = self.ls.load_launch(package, launch, path=path, args=args, request_args=request_args)
except Exception as err:
self.fail("`load_launch` raises unexpected exception, got: %s, expected: no error" % type(err))
try:
launch_file, _argv = self.ls.load_launch(package, launch, path=path, args=args, request_args=request_args)
self.fail("`load_launch` did not raises `exceptions.AlreadyOpenException` on load an already loaded file")
except exceptions.AlreadyOpenException as aoe:
request_args = False
args = psr.choices
except Exception as err:
self.fail("`load_launch` raises wrong Exception on second reload, got: %s, expected: `exceptions.AlreadyOpenException`: %s" % (type(err), err))
if unload:
self.ls.unload_launch(launch_file)
def setDescription(self, index, cfg, name, displayed_name, robot_type,
description, images):
'''
Sets the values of an existing item to the given items.
'''
if index < len(self._data):
obj = self._data[index]
if cfg not in obj['cfgs']:
obj['cfgs'].append(cfg)
obj['name'] = name
if displayed_name:
obj['displayed_name'] = displayed_name
obj['type'] = robot_type
obj['description'] = replace_paths(description)
if images:
del obj['images'][:]
for image_path in images:
img = interpret_path(image_path)
if img and img[0] != os.path.sep:
img = os.path.join(nm.settings().PACKAGE_DIR, image_path)
if os.path.isfile(img):
obj['images'].append(QPixmap(img))
def test_load_launch(self):
ls = LaunchServicer()
path = ''
args = {}
request_args = True
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='no_file.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('FILE_NOT_FOUND'),
"wrong status code if launch file not exists, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('FILE_NOT_FOUND'),
response.status.error_msg))
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='unknonwn_package',
launch='no_file.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('FILE_NOT_FOUND'),
"wrong status code if package not exists, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('FILE_NOT_FOUND'),
response.status.error_msg))
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='description_example.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('MULTIPLE_LAUNCHES'),
"wrong status code for multiple launch files, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('MULTIPLE_LAUNCHES'),
response.status.error_msg))
self.assertEqual(
len(response.path), 2,
"wrong count of multiple launch files, result: %d, expected: %d" %
(len(response.path), 2))
path = interpret_path(
"$(find fkie_node_manager_daemon)/tests/resources/description_example.launch"
)
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='description_example.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('PARAMS_REQUIRED'),
"wrong status code for request arguments, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('PARAMS_REQUIRED'),
response.status.error_msg))
args = {arg.name: arg.value for arg in response.args}
request_args = False
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='description_example.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code, lmsg.ReturnStatus.StatusType.Value('OK'),
"wrong status code on successful load, result: %d, expected: %d, reported error: %s"
% (response.status.code, lmsg.ReturnStatus.StatusType.Value('OK'),
response.status.error_msg))
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='description_example.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('ALREADY_OPEN'),
"wrong status code if file is already open, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('ALREADY_OPEN'),
response.status.error_msg))
self.assertEqual(
response.path[0], path,
"Wrong returned path in ALREADY_OPEN reply, expected: %s, got: %s"
% (response.path[0], path))
# test loaded file
response_stream = ls.GetLoadedFiles(lmsg.Empty(), DummyContext())
items = [response for response in response_stream]
self.assertEqual(
len(items), 1,
"The count of loaded files after successful load is wrong")
self.assertEqual(
items[0].path, path,
"Wrong reported loaded file path, got: %s, expected: %s" %
(items[0].path, path))
self.assertEqual(
items[0].package, 'fkie_node_manager_daemon',
"Wrong reported loaded package, got: %s, expected: %s" %
(items[0].package, 'fkie_node_manager_daemon'))
self.assertEqual(
items[0].launch, 'description_example.launch',
"Wrong reported loaded launch, got: %s, expected: %s" %
(items[0].launch, 'description_example.launch'))
