def test_subscribe_param_simple(self):
from rosmaster.registrations import RegistrationManager
from rosmaster.paramserver import ParamDictionary
# setup node and subscriber data
reg_manager = RegistrationManager(ThreadPoolMock())
param_server = ParamDictionary(reg_manager)
# subscribe to parameter that has not been set yet
self.last_update = None
self.assertEquals({}, param_server.subscribe_param('/foo', ('node1', 'http://node1:1')))
param_server.set_param('/foo', 1, notify_task=self.notify_task)
self.assertEquals([([('node1', 'http://node1:1')], '/foo/', 1), ], self.last_update)
# resubscribe
self.assertEquals(1, param_server.subscribe_param('/foo', ('node1', 'http://node1:1')))
param_server.set_param('/foo', 2, notify_task=self.notify_task)
self.assertEquals([([('node1', 'http://node1:1')], '/foo/', 2), ], self.last_update)
# resubscribe (test canonicalization of parameter name)
self.assertEquals(2, param_server.subscribe_param('/foo/', ('node1', 'http://node1:1')))
param_server.set_param('/foo', 'resub2', notify_task=self.notify_task)
self.assertEquals([([('node1', 'http://node1:1')], '/foo/', 'resub2'), ], self.last_update)
# change the URI
self.assertEquals('resub2', param_server.subscribe_param('/foo', ('node1', 'http://node1b:1')))
self.assertEquals('http://node1b:1', reg_manager.get_node('node1').api)
param_server.set_param('/foo', 3, notify_task=self.notify_task)
self.assertEquals([([('node1', 'http://node1b:1')], '/foo/', 3), ], self.last_update)
# multiple subscriptions to same param
self.assertEquals(3, param_server.subscribe_param('/foo', ('node2', 'http://node2:2')))
self.assertEquals('http://node2:2', reg_manager.get_node('node2').api)
param_server.set_param('/foo', 4, notify_task=self.notify_task)
self.assertEquals([([('node1', 'http://node1b:1'), ('node2', 'http://node2:2')], '/foo/', 4), ], self.last_update)
def test_unsubscribe_param(self):
from rosmaster.registrations import RegistrationManager
from rosmaster.paramserver import ParamDictionary
# setup node and subscriber data
reg_manager = RegistrationManager(ThreadPoolMock())
param_server = ParamDictionary(reg_manager)
# basic test
self.last_update = None
self.assertEquals({},
param_server.subscribe_param(
'/foo', ('node1', 'http://node1:1')))
param_server.set_param('/foo', 1, notify_task=self.notify_task)
self.assertEquals([
([('node1', 'http://node1:1')], '/foo/', 1),
], self.last_update)
# - return value is actually generated by Registrations
code, msg, val = param_server.unsubscribe_param(
'/foo', ('node1', 'http://node1:1'))
self.assertEquals(1, code)
self.assertEquals(1, val)
self.last_update = None
param_server.set_param('/foo', 2, notify_task=self.notify_task)
self.assertEquals(None, self.last_update)
# - repeat the unsubscribe
code, msg, val = param_server.unsubscribe_param(
'/foo', ('node1', 'http://node1:1'))
self.assertEquals(1, code)
self.assertEquals(0, val)
self.last_update = None
param_server.set_param('/foo', 2, notify_task=self.notify_task)
self.assertEquals(None, self.last_update)
# verify that stale unsubscribe has no effect on active subscription
self.last_update = None
self.assertEquals({},
param_server.subscribe_param(
'/bar', ('barnode', 'http://barnode:1')))
param_server.set_param('/bar', 3, notify_task=self.notify_task)
self.assertEquals([
([('barnode', 'http://barnode:1')], '/bar/', 3),
], self.last_update)
code, msg, val = param_server.unsubscribe_param(
'/foo', ('barnode', 'http://notbarnode:1'))
self.assertEquals(1, code)
self.assertEquals(0, val)
param_server.set_param('/bar', 4, notify_task=self.notify_task)
self.assertEquals([
([('barnode', 'http://barnode:1')], '/bar/', 4),
], self.last_update)
def test_unsubscribe_param(self):
from rosmaster.registrations import RegistrationManager
from rosmaster.paramserver import ParamDictionary
# setup node and subscriber data
reg_manager = RegistrationManager(ThreadPoolMock())
param_server = ParamDictionary(reg_manager)
# basic test
self.last_update = None
self.assertEquals({}, param_server.subscribe_param('/foo', ('node1', 'http://node1:1')))
param_server.set_param('/foo', 1, notify_task=self.notify_task)
self.assertEquals([([('node1', 'http://node1:1')], '/foo/', 1), ], self.last_update)
# - return value is actually generated by Registrations
code, msg, val = param_server.unsubscribe_param('/foo', ('node1', 'http://node1:1'))
self.assertEquals(1, code)
self.assertEquals(1, val)
self.last_update = None
param_server.set_param('/foo', 2, notify_task=self.notify_task)
self.assertEquals(None, self.last_update)
# - repeat the unsubscribe
code, msg, val = param_server.unsubscribe_param('/foo', ('node1', 'http://node1:1'))
self.assertEquals(1, code)
self.assertEquals(0, val)
self.last_update = None
param_server.set_param('/foo', 2, notify_task=self.notify_task)
self.assertEquals(None, self.last_update)
# verify that stale unsubscribe has no effect on active subscription
self.last_update = None
self.assertEquals({}, param_server.subscribe_param('/bar', ('barnode', 'http://barnode:1')))
param_server.set_param('/bar', 3, notify_task=self.notify_task)
self.assertEquals([([('barnode', 'http://barnode:1')], '/bar/', 3), ], self.last_update)
code, msg, val = param_server.unsubscribe_param('/foo', ('barnode', 'http://notbarnode:1'))
self.assertEquals(1, code)
self.assertEquals(0, val)
param_server.set_param('/bar', 4, notify_task=self.notify_task)
self.assertEquals([([('barnode', 'http://barnode:1')], '/bar/', 4), ], self.last_update)
def test_subscribe_param_deletion(self):
from rosmaster.registrations import RegistrationManager
from rosmaster.paramserver import ParamDictionary
# setup node and subscriber data
reg_manager = RegistrationManager(ThreadPoolMock())
param_server = ParamDictionary(reg_manager)
# subscription to then delete parameter
self.assertEquals({}, param_server.subscribe_param('/foo', ('node1', 'http://node1:1')))
param_server.set_param('/foo', 1, notify_task=self.notify_task)
param_server.delete_param('/foo', notify_task=self.notify_task)
self.assertEquals([([('node1', 'http://node1:1')], '/foo/', {}), ], self.last_update)
# subscribe to and delete whole tree
gains = {'p': 'P', 'i': 'I', 'd' : 'D'}
self.assertEquals({}, param_server.subscribe_param('/gains', ('deltree', 'http://deltree:1')))
param_server.set_param('/gains', gains.copy(), notify_task=self.notify_task)
param_server.delete_param('/gains', notify_task=self.notify_task)
self.assertEquals([([('deltree', 'http://deltree:1')], '/gains/', {}), ], self.last_update)
# subscribe to and delete params within subtree
self.assertEquals({}, param_server.subscribe_param('/gains2', ('deltree2', 'http://deltree2:2')))
param_server.set_param('/gains2', gains.copy(), notify_task=self.notify_task)
param_server.delete_param('/gains2/p', notify_task=self.notify_task)
self.assertEquals([([('deltree2', 'http://deltree2:2')], '/gains2/p/', {}), ], self.last_update)
param_server.delete_param('/gains2/i', notify_task=self.notify_task)
self.assertEquals([([('deltree2', 'http://deltree2:2')], '/gains2/i/', {}), ], self.last_update)
param_server.delete_param('/gains2', notify_task=self.notify_task)
self.assertEquals([([('deltree2', 'http://deltree2:2')], '/gains2/', {}), ], self.last_update)
# delete parent tree
k = '/ns1/ns2/ns3/key'
self.assertEquals({}, param_server.subscribe_param(k, ('del_parent', 'http://del_parent:1')))
param_server.set_param(k, 1, notify_task=self.notify_task)
param_server.delete_param('/ns1/ns2', notify_task=self.notify_task)
self.assertEquals([([('del_parent', 'http://del_parent:1')], '/ns1/ns2/ns3/key/', {}), ], self.last_update)
def test_subscribe_param_tree(self):
from rosmaster.registrations import RegistrationManager
from rosmaster.paramserver import ParamDictionary
# setup node and subscriber data
reg_manager = RegistrationManager(ThreadPoolMock())
param_server = ParamDictionary(reg_manager)
# Test Parameter Tree Subscriptions
# simple case - subscribe and set whole tree
gains = {'p': 'P', 'i': 'I', 'd' : 'D'}
self.assertEquals({}, param_server.subscribe_param('/gains', ('ptnode', 'http://ptnode:1')))
param_server.set_param('/gains', gains.copy(), notify_task=self.notify_task)
self.assertEquals([([('ptnode', 'http://ptnode:1')], '/gains/', gains), ], self.last_update)
# - test with trailing slash
param_server.set_param('/gains/', gains.copy(), notify_task=self.notify_task)
self.assertEquals([([('ptnode', 'http://ptnode:1')], '/gains/', gains), ], self.last_update)
# change params within tree
param_server.set_param('/gains/p', 'P2', notify_task=self.notify_task)
self.assertEquals([([('ptnode', 'http://ptnode:1')], '/gains/p/', 'P2'), ], self.last_update)
param_server.set_param('/gains/i', 'I2', notify_task=self.notify_task)
self.assertEquals([([('ptnode', 'http://ptnode:1')], '/gains/i/', 'I2'), ], self.last_update)
# test overlapping subscriptions
self.assertEquals('P2', param_server.subscribe_param('/gains/p', ('ptnode2', 'http://ptnode2:2')))
param_server.set_param('/gains', gains.copy(), notify_task=self.notify_task)
self.assertEquals([([('ptnode', 'http://ptnode:1')], '/gains/', gains), \
([('ptnode2', 'http://ptnode2:2')], '/gains/p/', 'P'), \
], self.last_update)
# - retest with trailing slash on subscribe
self.last_update = None
self.assertEquals('P', param_server.subscribe_param('/gains/p/', ('ptnode2', 'http://ptnode2:2')))
param_server.set_param('/gains', gains.copy(), notify_task=self.notify_task)
self.assertEquals([([('ptnode', 'http://ptnode:1')], '/gains/', gains), \
([('ptnode2', 'http://ptnode2:2')], '/gains/p/', 'P'), \
], self.last_update)
# test with overlapping (change to sub param)
param_server.set_param('/gains/p', 'P3', notify_task=self.notify_task)
# - this is a bit overtuned as a more optimal ps could use one update
ptnode2 = ([('ptnode2', 'http://ptnode2:2')], '/gains/p/', 'P3')
ptnode = ([('ptnode', 'http://ptnode:1')], '/gains/p/', 'P3')
self.assertTrue(len(self.last_update) == 2)
self.assertTrue(ptnode2 in self.last_update)
self.assertTrue(ptnode in self.last_update)
# virtual deletion: subscribe to subparam, parameter tree reset
self.last_update = None
param_server.set_param('/gains2', gains.copy(), notify_task=self.notify_task)
self.assertEquals('P', param_server.subscribe_param('/gains2/p/', ('ptnode3', 'http://ptnode3:3')))
# - erase the sub parameters
param_server.set_param('/gains2', {}, notify_task=self.notify_task)
self.assertEquals([([('ptnode3', 'http://ptnode3:3')], '/gains2/p/', {}), ], self.last_update)
#Final test: test subscription to entire tree
self.last_update = None
param_server.delete_param('/gains')
param_server.delete_param('/gains2')
self.assertEquals({}, param_server.get_param('/'))
self.assertEquals({}, param_server.subscribe_param('/', ('allnode', 'http://allnode:1')))
param_server.set_param('/one', 1, notify_task=self.notify_task)
self.assertEquals([([('allnode', 'http://allnode:1')], '/one/', 1), ], self.last_update)
param_server.set_param('/two', 2, notify_task=self.notify_task)
self.assertEquals([([('allnode', 'http://allnode:1')], '/two/', 2), ], self.last_update)
param_server.set_param('/foo/bar', 'bar', notify_task=self.notify_task)
self.assertEquals([([('allnode', 'http://allnode:1')], '/foo/bar/', 'bar'), ], self.last_update)
