def test_rosparam_list(self):
from ros import rosparam
cmd = 'rosparam'
params = ['/string', '/int', '/float',
'/g1/string', '/g1/int', '/g1/float',
'/g2/string', '/g2/int', '/g2/float',
]
l = rosparam.list_params('')
for t in params:
self.assert_(t in l)
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list'])
self._check(params, tolist(b))
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list', '/'])
self._check(params, tolist(b))
# test with namespace
g1p = [p for p in params if p.startswith('/g1/')]
not_g1p = [p for p in params if not p.startswith('/g1/')]
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list', '/g1'])
self._check(g1p, tolist(b))
self._notcheck(not_g1p, tolist(b))
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list', '/g1/'])
self._check(g1p, tolist(b))
self._notcheck(not_g1p, tolist(b))
# test with no match
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list', '/not/a/namespace/'])
self.assertEquals([], tolist(b))
def test_rosparam_get(self):
from ros import rosparam
cmd = 'rosparam'
try:
rosparam.yamlmain([cmd, 'get'])
self.fail("command-line arg should have failed")
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_rosparam_get(self):
from ros import rosparam
cmd = 'rosparam'
try:
rosparam.yamlmain([cmd, 'get'])
self.fail("command-line arg should have failed")
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_rosparam_delete(self):
from ros import rosparam
cmd = 'rosparam'
ps = get_param_server()
try:
rosparam.yamlmain([cmd, 'delete'])
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_rosparam_delete(self):
from ros import rosparam
cmd = 'rosparam'
ps = get_param_server()
try:
rosparam.yamlmain([cmd, 'delete'])
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_fullusage(self):
from ros import rosparam
try:
rosparam._fullusage()
except SystemExit: pass
try:
rosparam.yamlmain(['rosparam'])
except SystemExit: pass
try:
rosparam.yamlmain(['rosparam', 'invalid'])
except SystemExit: pass
def test_rosparam_load(self):
from ros import rosparam
import roslib.packages
f = os.path.join(roslib.packages.get_pkg_dir('test_rosparam'), 'test', 'test.yaml')
f_ns = os.path.join(roslib.packages.get_pkg_dir('test_rosparam'), 'test', 'test_ns.yaml')
cmd = 'rosparam'
try:
rosparam.yamlmain([cmd, 'load'])
self.fail("command-line arg should have failed")
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_rosparam_dump(self):
from ros import rosparam
import roslib.packages
f = os.path.join(roslib.packages.get_pkg_dir('test_rosparam'), 'test', 'test.yaml')
f_out = os.path.join(roslib.packages.get_pkg_dir('test_rosparam'), 'test', 'test_dump.yaml')
cmd = 'rosparam'
ps = get_param_server()
try:
rosparam.yamlmain([cmd, 'dump'])
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_fullusage(self):
from ros import rosparam
try:
rosparam._fullusage()
except SystemExit:
pass
try:
rosparam.yamlmain(['rosparam'])
except SystemExit:
pass
try:
rosparam.yamlmain(['rosparam', 'invalid'])
except SystemExit:
pass
def test_rosparam_load(self):
from ros import rosparam
import roslib.packages
f = os.path.join(roslib.packages.get_pkg_dir('test_rosparam'), 'test',
'test.yaml')
f_ns = os.path.join(roslib.packages.get_pkg_dir('test_rosparam'),
'test', 'test_ns.yaml')
cmd = 'rosparam'
try:
rosparam.yamlmain([cmd, 'load'])
self.fail("command-line arg should have failed")
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_rosparam_dump(self):
from ros import rosparam
import roslib.packages
f = os.path.join(roslib.packages.get_pkg_dir('test_rosparam'), 'test',
'test.yaml')
f_out = os.path.join(roslib.packages.get_pkg_dir('test_rosparam'),
'test', 'test_dump.yaml')
cmd = 'rosparam'
ps = get_param_server()
try:
rosparam.yamlmain([cmd, 'dump'])
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_rosparam_list(self):
from ros import rosparam
cmd = 'rosparam'
params = [
'/string',
'/int',
'/float',
'/g1/string',
'/g1/int',
'/g1/float',
'/g2/string',
'/g2/int',
'/g2/float',
]
l = rosparam.list_params('')
for t in params:
self.assert_(t in l)
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list'])
self._check(params, tolist(b))
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list', '/'])
self._check(params, tolist(b))
# test with namespace
g1p = [p for p in params if p.startswith('/g1/')]
not_g1p = [p for p in params if not p.startswith('/g1/')]
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list', '/g1'])
self._check(g1p, tolist(b))
self._notcheck(not_g1p, tolist(b))
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list', '/g1/'])
self._check(g1p, tolist(b))
self._notcheck(not_g1p, tolist(b))
# test with no match
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list', '/not/a/namespace/'])
self.assertEquals([], tolist(b))
def test_rosparam_set(self):
from ros import rosparam
cmd = 'rosparam'
ps = get_param_server()
with fakestdout() as b:
rosparam.yamlmain([cmd, 'set', "/rosparam_set/test1", "1"])
self.assertEquals(1, ps.getParam('/', '/rosparam_set/test1')[2])
with fakestdout() as b:
# -- verbose
rosparam.yamlmain([cmd, 'set', '-v', "/rosparam_set/test1", "1"])
self.assertEquals(1, ps.getParam('/', '/rosparam_set/test1')[2])
with fakestdout() as b:
rosparam.yamlmain([cmd, 'set', "rosparam_set/test1", "2"])
self.assertEquals(2, ps.getParam('/', '/rosparam_set/test1')[2])
with fakestdout() as b:
# - floats
rosparam.yamlmain([cmd, 'set', "/rosparam_set/test2", "1.0"])
self.assertEquals(1., ps.getParam('/', '/rosparam_set/test2')[2])
with fakestdout() as b:
# - floats
rosparam.yamlmain([cmd, 'set', "/rosparam_set/test2", "2.0"])
self.assertEquals(2., ps.getParam('/', '/rosparam_set/test2')[2])
with fakestdout() as b:
# - booleans
rosparam.yamlmain([cmd, 'set', "/rosparam_set/testbool", "true"])
self.assertEquals(True,
ps.getParam('/', '/rosparam_set/testbool')[2])
with fakestdout() as b:
# - strings
rosparam.yamlmain([cmd, 'set', "/rosparam_set/teststr", "hi"])
self.assertEquals("hi",
ps.getParam('/', '/rosparam_set/teststr')[2])
with fakestdout() as b:
# - list
rosparam.yamlmain(
[cmd, 'set', "/rosparam_set/testlist", "[1, 2, 3]"])
self.assertEquals([1, 2, 3],
ps.getParam('/', '/rosparam_set/testlist')[2])
with fakestdout() as b:
# - dictionary
rosparam.yamlmain(
[cmd, 'set', "/rosparam_set/testdict", "{a: b, c: d}"])
self.assertEquals('b',
ps.getParam('/', '/rosparam_set/testdict/a')[2])
self.assertEquals('d',
ps.getParam('/', '/rosparam_set/testdict/c')[2])
with fakestdout() as b:
# - empty dictionary should be a noop
rosparam.yamlmain([cmd, 'set', "set/testdict", "{}"])
self.assertEquals('b',
ps.getParam('/', '/rosparam_set/testdict/a')[2])
self.assertEquals('d',
ps.getParam('/', '/rosparam_set/testdict/c')[2])
with fakestdout() as b:
# - this should be an update
rosparam.yamlmain(
[cmd, 'set', "/rosparam_set/testdict", "{e: f, g: h}"])
self.assertEquals('b',
ps.getParam('/', '/rosparam_set/testdict/a')[2])
self.assertEquals('d',
ps.getParam('/', '/rosparam_set/testdict/c')[2])
self.assertEquals('f',
ps.getParam('/', '/rosparam_set/testdict/e')[2])
self.assertEquals('h',
ps.getParam('/', '/rosparam_set/testdict/g')[2])
with fakestdout() as b:
# -- verbose
rosparam.yamlmain([
cmd, 'set', '-v', "/rosparam_set/testdictverbose",
"{e: f, g: h}"
])
self.assertEquals(
'f',
ps.getParam('/', '/rosparam_set/testdictverbose/e')[2])
self.assertEquals(
'h',
ps.getParam('/', '/rosparam_set/testdictverbose/g')[2])
def test_rosparam_set(self):
from ros import rosparam
cmd = 'rosparam'
ps = get_param_server()
with fakestdout() as b:
rosparam.yamlmain([cmd, 'set', "/rosparam_set/test1", "1"])
self.assertEquals(1, ps.getParam('/', '/rosparam_set/test1')[2])
with fakestdout() as b:
# -- verbose
rosparam.yamlmain([cmd, 'set', '-v', "/rosparam_set/test1", "1"])
self.assertEquals(1, ps.getParam('/', '/rosparam_set/test1')[2])
with fakestdout() as b:
rosparam.yamlmain([cmd, 'set', "rosparam_set/test1", "2"])
self.assertEquals(2, ps.getParam('/', '/rosparam_set/test1')[2])
with fakestdout() as b:
# - floats
rosparam.yamlmain([cmd, 'set', "/rosparam_set/test2", "1.0"])
self.assertEquals(1., ps.getParam('/', '/rosparam_set/test2')[2])
with fakestdout() as b:
# - floats
rosparam.yamlmain([cmd, 'set', "/rosparam_set/test2", "2.0"])
self.assertEquals(2., ps.getParam('/', '/rosparam_set/test2')[2])
with fakestdout() as b:
# - booleans
rosparam.yamlmain([cmd, 'set', "/rosparam_set/testbool", "true"])
self.assertEquals(True, ps.getParam('/', '/rosparam_set/testbool')[2])
with fakestdout() as b:
# - strings
rosparam.yamlmain([cmd, 'set', "/rosparam_set/teststr", "hi"])
self.assertEquals("hi", ps.getParam('/', '/rosparam_set/teststr')[2])
with fakestdout() as b:
# - list
rosparam.yamlmain([cmd, 'set', "/rosparam_set/testlist", "[1, 2, 3]"])
self.assertEquals([1, 2, 3], ps.getParam('/', '/rosparam_set/testlist')[2])
with fakestdout() as b:
# - dictionary
rosparam.yamlmain([cmd, 'set', "/rosparam_set/testdict", "{a: b, c: d}"])
self.assertEquals('b', ps.getParam('/', '/rosparam_set/testdict/a')[2])
self.assertEquals('d', ps.getParam('/', '/rosparam_set/testdict/c')[2])
with fakestdout() as b:
# - empty dictionary should be a noop
rosparam.yamlmain([cmd, 'set', "set/testdict", "{}"])
self.assertEquals('b', ps.getParam('/', '/rosparam_set/testdict/a')[2])
self.assertEquals('d', ps.getParam('/', '/rosparam_set/testdict/c')[2])
with fakestdout() as b:
# - this should be an update
rosparam.yamlmain([cmd, 'set', "/rosparam_set/testdict", "{e: f, g: h}"])
self.assertEquals('b', ps.getParam('/', '/rosparam_set/testdict/a')[2])
self.assertEquals('d', ps.getParam('/', '/rosparam_set/testdict/c')[2])
self.assertEquals('f', ps.getParam('/', '/rosparam_set/testdict/e')[2])
self.assertEquals('h', ps.getParam('/', '/rosparam_set/testdict/g')[2])
with fakestdout() as b:
# -- verbose
rosparam.yamlmain([cmd, 'set', '-v', "/rosparam_set/testdictverbose", "{e: f, g: h}"])
self.assertEquals('f', ps.getParam('/', '/rosparam_set/testdictverbose/e')[2])
self.assertEquals('h', ps.getParam('/', '/rosparam_set/testdictverbose/g')[2])
class TestRosparam(unittest.TestCase):
def setUp(self):
pass
def _check(self, expected, actual):
"""
Make sure all elements of expected are present in actual
"""
for t in expected:
self.assert_(t in actual)
def _notcheck(self, not_expected, actual):
"""
Make sure all elements of not_expected are not present in actual
"""
for t in not_expected:
self.failIf(t in actual)
def test_rosparam_list(self):
from ros import rosparam
cmd = 'rosparam'
params = [
'/string',
'/int',
'/float',
'/g1/string',
'/g1/int',
'/g1/float',
'/g2/string',
'/g2/int',
'/g2/float',
]
l = rosparam.list_params('')
for t in params:
self.assert_(t in l)
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list'])
self._check(params, tolist(b))
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list', '/'])
self._check(params, tolist(b))
# test with namespace
g1p = [p for p in params if p.startswith('/g1/')]
not_g1p = [p for p in params if not p.startswith('/g1/')]
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list', '/g1'])
self._check(g1p, tolist(b))
self._notcheck(not_g1p, tolist(b))
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list', '/g1/'])
self._check(g1p, tolist(b))
self._notcheck(not_g1p, tolist(b))
# test with no match
with fakestdout() as b:
rosparam.yamlmain([cmd, 'list', '/not/a/namespace/'])
self.assertEquals([], tolist(b))
def test_rosparam_load(self):
from ros import rosparam
import roslib.packages
f = os.path.join(roslib.packages.get_pkg_dir('test_rosparam'), 'test',
'test.yaml')
f_ns = os.path.join(roslib.packages.get_pkg_dir('test_rosparam'),
'test', 'test_ns.yaml')
cmd = 'rosparam'
try:
rosparam.yamlmain([cmd, 'load'])
self.fail("command-line arg should have failed")
except SystemExit, e:
self.assertNotEquals(0, e.code)
try:
rosparam.yamlmain([cmd, 'load', 'fake-file.yaml'])
self.fail("command-line arg should have failed")
except SystemExit, e:
self.assertNotEquals(0, e.code)
cmd = 'rosparam'
try:
rosparam.yamlmain([cmd, 'load'])
self.fail("command-line arg should have failed")
except SystemExit, e:
self.assertNotEquals(0, e.code)
try:
rosparam.yamlmain([cmd, 'load', 'fake-file.yaml'])
self.fail("command-line arg should have failed")
except SystemExit, e:
self.assertNotEquals(0, e.code)
ps = get_param_server()
# load into top-level
rosparam.yamlmain([cmd, 'load', f])
self.assertEquals('bar', ps.getParam('/', '/foo')[2])
# - make sure it did an overlay, not erase
self.assertEquals('foo-value', ps.getParam('/', '/string')[2])
rosparam.yamlmain([cmd, 'load', '-v', f])
self.assertEquals('bar', ps.getParam('/', '/foo')[2])
# load into namespace
rosparam.yamlmain([cmd, 'load', f, '/rosparam_load/test'])
self.assertEquals('bar',
ps.getParam('/', '/rosparam_load/test/foo')[2])
rosparam.yamlmain([cmd, 'load', '-v', f, '/rosparam_load/test'])
self.assertEquals('bar',
ps.getParam('/', '/rosparam_load/test/foo')[2])
cmd = 'rosparam'
try:
rosparam.yamlmain([cmd, 'load'])
self.fail("command-line arg should have failed")
except SystemExit, e:
self.assertNotEquals(0, e.code)
try:
rosparam.yamlmain([cmd, 'load', 'fake-file.yaml'])
self.fail("command-line arg should have failed")
except SystemExit, e:
self.assertNotEquals(0, e.code)
ps = get_param_server()
# load into top-level
rosparam.yamlmain([cmd, 'load', f])
self.assertEquals('bar', ps.getParam('/', '/foo')[2])
# - make sure it did an overlay, not erase
self.assertEquals('foo-value', ps.getParam('/', '/string')[2])
rosparam.yamlmain([cmd, 'load', '-v', f])
self.assertEquals('bar', ps.getParam('/', '/foo')[2])
# load into namespace
rosparam.yamlmain([cmd, 'load', f, '/rosparam_load/test'])
self.assertEquals('bar', ps.getParam('/', '/rosparam_load/test/foo')[2])
rosparam.yamlmain([cmd, 'load', '-v', f, '/rosparam_load/test'])
self.assertEquals('bar', ps.getParam('/', '/rosparam_load/test/foo')[2])
# load file with namespace spec in it
# - load into top-level
