def test_invalid_arguments(self):
proto = Protocol("test_invalid_arguments")
sub = subscribe.Subscribe(proto)
msg = {"op": "subscribe", "topic": 3}
self.assertRaises(InvalidArgumentException, sub.subscribe, msg)
msg = {"op": "subscribe", "topic": "/jon", "type": 3}
self.assertRaises(InvalidArgumentException, sub.subscribe, msg)
msg = {"op": "subscribe", "topic": "/jon", "throttle_rate": "fast"}
self.assertRaises(InvalidArgumentException, sub.subscribe, msg)
msg = {
"op": "subscribe",
"topic": "/jon",
"fragment_size": "five cubits"
}
self.assertRaises(InvalidArgumentException, sub.subscribe, msg)
msg = {"op": "subscribe", "topic": "/jon", "queue_length": "long"}
self.assertRaises(InvalidArgumentException, sub.subscribe, msg)
msg = {"op": "subscribe", "topic": "/jon", "compression": 9000}
self.assertRaises(InvalidArgumentException, sub.subscribe, msg)
def test_subscribe_works(self):
proto = Protocol("test_subscribe_works")
sub = subscribe.Subscribe(proto)
topic = "/test_subscribe_works"
msg = String()
msg.data = "test test_subscribe_works works"
msg_type = "std_msgs/String"
received = {"msg": None}
def send(outgoing):
received["msg"] = outgoing
proto.send = send
sub.subscribe(
loads(dumps({
"op": "subscribe",
"topic": topic,
"type": msg_type
})))
p = rospy.Publisher(topic, String)
time.sleep(0.25)
p.publish(msg)
time.sleep(0.25)
self.assertEqual(received["msg"]["msg"]["data"], msg.data)
def test_missing_arguments(self):
proto = Protocol("test_missing_arguments")
sub = subscribe.Subscribe(proto)
msg = {"op": "subscribe"}
self.assertRaises(MissingArgumentException, sub.subscribe, msg)