def test_Registrations(self):
import rosmaster.exceptions
from rosmaster.registrations import Registrations
types = [Registrations.TOPIC_SUBSCRIPTIONS,
Registrations.TOPIC_PUBLICATIONS,
Registrations.SERVICE,
Registrations.PARAM_SUBSCRIPTIONS]
# test enums
self.assertEquals(4, len(set(types)))
try:
r = Registrations(-1)
self.fail("Registrations accepted invalid type")
except rosmaster.exceptions.InternalException: pass
for t in types:
r = Registrations(t)
self.assertEquals(t, r.type)
self.assert_(not r) #test nonzero
self.failIf('topic1' in r) #test contains
self.failIf(r.has_key('topic1')) #test has_key
self.failIf([k for k in r.iterkeys()]) #no keys
self.assertEquals(None, r.get_service_api('non-existent'))
# Test topic subs
r = Registrations(Registrations.TOPIC_SUBSCRIPTIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.TOPIC_PUBLICATIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.PARAM_SUBSCRIPTIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.SERVICE)
self._subtest_Registrations_services(r)
def test_compute_param_updates(self):
from rosmaster.registrations import Registrations
from rosmaster.paramserver import compute_param_updates
# spec requires that subscriptions always have a trailing slash
tests = [
# [correct val], (subscribers, param_key, param_value)
([],({}, '/foo', 1)),
([],({'/bar': 'barapi'}, '/foo/', 1)),
([],({'/bar/': 'barapi'}, '/foo/', 1)),
# make sure that it's robust to aliases
([('fooapi', '/foo/', 1)], ({'/foo/': 'fooapi'}, '/foo', 1)),
([('fooapi', '/foo/', 1)], ({'/foo/': 'fooapi'}, '/foo/', 1)),
# check namespace subscription
([('fooapi', '/foo/val/', 1)], ({'/foo/': 'fooapi'}, '/foo/val', 1)),
# check against dictionary param values
([],({'/bar/': 'barapi'}, '/foo/', {'bar': 2})),
([('fooapi', '/foo/val/', 1)], ({'/foo/val/': 'fooapi'}, '/foo', {'val' : 1})),
([('fooapi', '/foo/bar/val/', 1)], ({'/foo/bar/val/': 'fooapi'}, '/foo', {'bar' : {'val' : 1}})),
([('fooapi', '/foo/bar/', {'val': 1})], ({'/foo/bar/': 'fooapi'}, '/foo', {'bar' : {'val' : 1}})),
([('fooapi', '/foo/', {'bar':{'val': 1}})], ({'/foo/': 'fooapi'}, '/foo', {'bar' : {'val' : 1}})),
([('fooapi', '/foo/', {'bar': 1, 'baz': 2}), ('foobazapi', '/foo/baz/', 2)],
({'/foo/': 'fooapi', '/foo/baz/': 'foobazapi'}, '/foo', {'bar' : 1, 'baz': 2})),
([('foobarapi', '/foo/bar/', 1), ('foobazapi', '/foo/baz/', 2)],
({'/foo/bar/': 'foobarapi', '/foo/baz/': 'foobazapi'}, '/foo', {'bar' : 1, 'baz': 2})),
# deletion of higher level tree
([('delapi', '/del/bar/', {})],
({'/del/bar/': 'delapi'}, '/del', {})),
]
for correct, args in tests:
reg = Registrations(Registrations.PARAM_SUBSCRIPTIONS)
reg.map = args[0]
param_key = args[1]
param_val = args[2]
val = compute_param_updates(reg, param_key, param_val)
self.assertEquals(len(correct), len(val), "Failed: \n%s \nreturned \n%s\nvs correct\n%s"%(str(args), str(val), str(correct)))
for c in correct:
self.assert_(c in val, "Failed: \n%s \ndid not include \n%s. \nIt returned \n%s"%(str(args), c, val))
def test_Registrations(self):
import rosmaster.exceptions
from rosmaster.registrations import Registrations
types = [
Registrations.TOPIC_SUBSCRIPTIONS,
Registrations.TOPIC_PUBLICATIONS, Registrations.SERVICE,
Registrations.PARAM_SUBSCRIPTIONS
]
# test enums
self.assertEquals(4, len(set(types)))
try:
r = Registrations(-1)
self.fail("Registrations accepted invalid type")
except rosmaster.exceptions.InternalException, e:
pass
def test_Registrations_unregister_all(self):
import rosmaster.exceptions
from rosmaster.registrations import Registrations
r = Registrations(Registrations.TOPIC_SUBSCRIPTIONS)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
r.register(k, 'node1', 'http://node1:5678')
r.register('topic2', 'node2', 'http://node2:5678')
r.unregister_all('node1')
self.failIf(not r)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
self.failIf(r.has_key(k))
self.assertEquals(['topic2'], [k for k in r.iterkeys()])
r = Registrations(Registrations.TOPIC_PUBLICATIONS)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
r.register(k, 'node1', 'http://node1:5678')
r.register('topic2', 'node2', 'http://node2:5678')
r.unregister_all('node1')
self.failIf(not r)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
self.failIf(r.has_key(k))
self.assertEquals(['topic2'], [k for k in r.iterkeys()])
r = Registrations(Registrations.PARAM_SUBSCRIPTIONS)
r.register('param2', 'node2', 'http://node2:5678')
for k in ['param1', 'param1b', 'param1c', 'param1d']:
r.register(k, 'node1', 'http://node1:5678')
r.unregister_all('node1')
self.failIf(not r)
for k in ['param1', 'param1b', 'param1c', 'param1d']:
self.failIf(r.has_key(k))
self.assertEquals(['param2'], [k for k in r.iterkeys()])
r = Registrations(Registrations.SERVICE)
for k in ['service1', 'service1b', 'service1c', 'service1d']:
r.register(k, 'node1', 'http://node1:5678', 'rosrpc://node1:1234')
r.register('service2', 'node2', 'http://node2:5678', 'rosrpc://node2:1234')
r.unregister_all('node1')
self.failIf(not r)
for k in ['service1', 'service1b', 'service1c', 'service1d']:
self.failIf(r.has_key(k))
self.assertEquals(None, r.get_service_api(k))
self.assertEquals(['service2'], [k for k in r.iterkeys()])
self.assertEquals('rosrpc://node2:1234', r.get_service_api('service2'))
def test_Registrations_unregister_all(self):
import rosmaster.exceptions
from rosmaster.registrations import Registrations
r = Registrations(Registrations.TOPIC_SUBSCRIPTIONS)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
r.register(k, 'node1', 'http://node1:5678')
r.register('topic2', 'node2', 'http://node2:5678')
r.unregister_all('node1')
self.failIf(not r)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
self.failIf(r.has_key(k))
self.assertEquals(['topic2'], [k for k in r.iterkeys()])
r = Registrations(Registrations.TOPIC_PUBLICATIONS)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
r.register(k, 'node1', 'http://node1:5678')
r.register('topic2', 'node2', 'http://node2:5678')
r.unregister_all('node1')
self.failIf(not r)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
self.failIf(r.has_key(k))
self.assertEquals(['topic2'], [k for k in r.iterkeys()])
r = Registrations(Registrations.PARAM_SUBSCRIPTIONS)
r.register('param2', 'node2', 'http://node2:5678')
for k in ['param1', 'param1b', 'param1c', 'param1d']:
r.register(k, 'node1', 'http://node1:5678')
r.unregister_all('node1')
self.failIf(not r)
for k in ['param1', 'param1b', 'param1c', 'param1d']:
self.failIf(r.has_key(k))
self.assertEquals(['param2'], [k for k in r.iterkeys()])
r = Registrations(Registrations.SERVICE)
for k in ['service1', 'service1b', 'service1c', 'service1d']:
r.register(k, 'node1', 'http://node1:5678', 'rosrpc://node1:1234')
r.register('service2', 'node2', 'http://node2:5678',
'rosrpc://node2:1234')
r.unregister_all('node1')
self.failIf(not r)
for k in ['service1', 'service1b', 'service1c', 'service1d']:
self.failIf(r.has_key(k))
self.assertEquals(None, r.get_service_api(k))
self.assertEquals(['service2'], [k for k in r.iterkeys()])
self.assertEquals('rosrpc://node2:1234', r.get_service_api('service2'))
class TestRosmasterRegistrations(unittest.TestCase):
def test_NodeRef_services(self):
from rosmaster.registrations import NodeRef, Registrations
n = NodeRef('n1', 'http://localhost:1234')
# test services
n.add(Registrations.SERVICE, 'add_two_ints')
self.failIf(n.is_empty())
self.assert_('add_two_ints' in n.services)
self.assertEquals(['add_two_ints'], n.services)
n.add(Registrations.SERVICE, 'add_three_ints')
self.failIf(n.is_empty())
self.assert_('add_three_ints' in n.services)
self.assert_('add_two_ints' in n.services)
n.remove(Registrations.SERVICE, 'add_two_ints')
self.assert_('add_three_ints' in n.services)
self.assertEquals(['add_three_ints'], n.services)
self.failIf('add_two_ints' in n.services)
self.failIf(n.is_empty())
n.remove(Registrations.SERVICE, 'add_three_ints')
self.failIf('add_three_ints' in n.services)
self.failIf('add_two_ints' in n.services)
self.assertEquals([], n.services)
self.assert_(n.is_empty())
def test_NodeRef_subs(self):
from rosmaster.registrations import NodeRef, Registrations
n = NodeRef('n1', 'http://localhost:1234')
# test topic suscriptions
n.add(Registrations.TOPIC_SUBSCRIPTIONS, 'topic1')
self.failIf(n.is_empty())
self.assert_('topic1' in n.topic_subscriptions)
self.assertEquals(['topic1'], n.topic_subscriptions)
n.add(Registrations.TOPIC_SUBSCRIPTIONS, 'topic2')
self.failIf(n.is_empty())
self.assert_('topic2' in n.topic_subscriptions)
self.assert_('topic1' in n.topic_subscriptions)
n.remove(Registrations.TOPIC_SUBSCRIPTIONS, 'topic1')
self.assert_('topic2' in n.topic_subscriptions)
self.assertEquals(['topic2'], n.topic_subscriptions)
self.failIf('topic1' in n.topic_subscriptions)
self.failIf(n.is_empty())
n.remove(Registrations.TOPIC_SUBSCRIPTIONS, 'topic2')
self.failIf('topic2' in n.topic_subscriptions)
self.failIf('topic1' in n.topic_subscriptions)
self.assertEquals([], n.topic_subscriptions)
self.assert_(n.is_empty())
def test_NodeRef_pubs(self):
from rosmaster.registrations import NodeRef, Registrations
n = NodeRef('n1', 'http://localhost:1234')
# test topic publications
n.add(Registrations.TOPIC_PUBLICATIONS, 'topic1')
self.failIf(n.is_empty())
self.assert_('topic1' in n.topic_publications)
self.assertEquals(['topic1'], n.topic_publications)
n.add(Registrations.TOPIC_PUBLICATIONS, 'topic2')
self.failIf(n.is_empty())
self.assert_('topic2' in n.topic_publications)
self.assert_('topic1' in n.topic_publications)
n.remove(Registrations.TOPIC_PUBLICATIONS, 'topic1')
self.assert_('topic2' in n.topic_publications)
self.assertEquals(['topic2'], n.topic_publications)
self.failIf('topic1' in n.topic_publications)
self.failIf(n.is_empty())
n.remove(Registrations.TOPIC_PUBLICATIONS, 'topic2')
self.failIf('topic2' in n.topic_publications)
self.failIf('topic1' in n.topic_publications)
self.assertEquals([], n.topic_publications)
self.assert_(n.is_empty())
def test_NodeRef_base(self):
import rosmaster.exceptions
from rosmaster.registrations import NodeRef, Registrations
n = NodeRef('n1', 'http://localhost:1234')
self.assertEquals('http://localhost:1234', n.api)
self.assertEquals([], n.param_subscriptions)
self.assertEquals([], n.topic_subscriptions)
self.assertEquals([], n.topic_publications)
self.assertEquals([], n.services)
self.assert_(n.is_empty())
try:
n.add(12345, 'topic')
self.fail("should have failed with invalid type")
except rosmaster.exceptions.InternalException:
pass
try:
n.remove(12345, 'topic')
self.fail("should have failed with invalid type")
except rosmaster.exceptions.InternalException:
pass
n.add(Registrations.TOPIC_PUBLICATIONS, 'topic1')
n.add(Registrations.TOPIC_PUBLICATIONS, 'topic2')
n.add(Registrations.TOPIC_SUBSCRIPTIONS, 'topic2')
n.add(Registrations.TOPIC_SUBSCRIPTIONS, 'topic3')
n.add(Registrations.PARAM_SUBSCRIPTIONS, 'topic4')
n.add(Registrations.SERVICE, 'serv')
self.failIf(n.is_empty())
n.clear()
self.assert_(n.is_empty())
def test_NodeRef_param_subs(self):
from rosmaster.registrations import NodeRef, Registrations
n = NodeRef('n1', 'http://localhost:1234')
# test param suscriptions
n.add(Registrations.PARAM_SUBSCRIPTIONS, 'param1')
self.failIf(n.is_empty())
self.assert_('param1' in n.param_subscriptions)
self.assertEquals(['param1'], n.param_subscriptions)
n.add(Registrations.PARAM_SUBSCRIPTIONS, 'param2')
self.failIf(n.is_empty())
self.assert_('param2' in n.param_subscriptions)
self.assert_('param1' in n.param_subscriptions)
n.remove(Registrations.PARAM_SUBSCRIPTIONS, 'param1')
self.assert_('param2' in n.param_subscriptions)
self.assertEquals(['param2'], n.param_subscriptions)
self.failIf('param1' in n.param_subscriptions)
self.failIf(n.is_empty())
n.remove(Registrations.PARAM_SUBSCRIPTIONS, 'param2')
self.failIf('param2' in n.param_subscriptions)
self.failIf('param1' in n.param_subscriptions)
self.assertEquals([], n.param_subscriptions)
self.assert_(n.is_empty())
## subroutine of registration tests that test topic/param type Reg objects
## @param r Registrations: initialized registrations object to test
def _subtest_Registrations_basic(self, r):
#NOTE: no real difference between topic and param names, so tests are reusable
# - note that we've updated node1's API
r.register('topic1', 'node1', 'http://node1:5678')
self.assert_('topic1' in r) # test contains
self.assert_(r.has_key('topic1')) # test contains
self.assertEquals(['topic1'], [k for k in r.iterkeys()])
self.assertEquals(['http://node1:5678'], r.get_apis('topic1'))
self.assertEquals([('node1', 'http://node1:5678')], r['topic1'])
self.failIf(not r) #test nonzero
self.assertEquals(
None, r.get_service_api('topic1')) #make sure no contamination
self.assertEquals([['topic1', ['node1']]], r.get_state())
r.register('topic1', 'node2', 'http://node2:5678')
self.assertEquals(['topic1'], [k for k in r.iterkeys()])
self.assertEquals(['topic1'], [k for k in r.iterkeys()])
self.assertEquals(2, len(r.get_apis('topic1')))
self.assert_('http://node1:5678' in r.get_apis('topic1'))
self.assert_('http://node2:5678' in r.get_apis('topic1'))
self.assertEquals(2, len(r['topic1']))
self.assert_(('node1', 'http://node1:5678') in r['topic1'],
r['topic1'])
self.assert_(('node2', 'http://node2:5678') in r['topic1'])
self.assertEquals([['topic1', ['node1', 'node2']]], r.get_state())
# TODO: register second topic
r.register('topic2', 'node3', 'http://node3:5678')
self.assert_('topic2' in r) # test contains
self.assert_(r.has_key('topic2')) # test contains
self.assert_('topic1' in [k for k in r.iterkeys()])
self.assert_('topic2' in [k for k in r.iterkeys()])
self.assertEquals(['http://node3:5678'], r.get_apis('topic2'))
self.assertEquals([('node3', 'http://node3:5678')], r['topic2'])
self.failIf(not r) #test nonzero
self.assert_(['topic1', ['node1', 'node2']] in r.get_state(),
r.get_state())
self.assert_(['topic2', ['node3']] in r.get_state(), r.get_state())
# Unregister
# - fail if node is not registered
code, _, val = r.unregister('topic1', 'node3', 'http://node3:5678')
self.assertEquals(0, val)
# - fail if topic is not registered by that node
code, _, val = r.unregister('topic2', 'node2', 'http://node2:5678')
self.assertEquals(0, val)
# - fail if URI does not match
code, _, val = r.unregister('topic2', 'node2', 'http://fakenode2:5678')
self.assertEquals(0, val)
# - unregister node2
code, _, val = r.unregister('topic1', 'node1', 'http://node1:5678')
self.assertEquals(1, code)
self.assertEquals(1, val)
self.assert_('topic1' in r) # test contains
self.assert_(r.has_key('topic1'))
self.assert_('topic1' in [k for k in r.iterkeys()])
self.assert_('topic2' in [k for k in r.iterkeys()])
self.assertEquals(['http://node2:5678'], r.get_apis('topic1'))
self.assertEquals([('node2', 'http://node2:5678')], r['topic1'])
self.failIf(not r) #test nonzero
self.assert_(['topic1', ['node2']] in r.get_state())
self.assert_(['topic2', ['node3']] in r.get_state())
code, _, val = r.unregister('topic1', 'node2', 'http://node2:5678')
self.assertEquals(1, code)
self.assertEquals(1, val)
self.failIf('topic1' in r) # test contains
self.failIf(r.has_key('topic1'))
self.assertEquals(['topic2'], [k for k in r.iterkeys()])
self.assertEquals([], r.get_apis('topic1'))
self.assertEquals([], r['topic1'])
self.failIf(not r) #test nonzero
self.assertEquals([['topic2', ['node3']]], r.get_state())
# clear out last reg
code, _, val = r.unregister('topic2', 'node3', 'http://node3:5678')
self.assertEquals(1, code)
self.assertEquals(1, val)
self.failIf('topic2' in r) # test contains
self.assert_(not r)
self.assertEquals([], r.get_state())
def test_Registrations(self):
import rosmaster.exceptions
from rosmaster.registrations import Registrations
types = [
Registrations.TOPIC_SUBSCRIPTIONS,
Registrations.TOPIC_PUBLICATIONS, Registrations.SERVICE,
Registrations.PARAM_SUBSCRIPTIONS
]
# test enums
self.assertEquals(4, len(set(types)))
try:
r = Registrations(-1)
self.fail("Registrations accepted invalid type")
except rosmaster.exceptions.InternalException, e:
pass
for t in types:
r = Registrations(t)
self.assertEquals(t, r.type)
self.assert_(not r) #test nonzero
self.failIf('topic1' in r) #test contains
self.failIf(r.has_key('topic1')) #test has_key
self.failIf([k for k in r.iterkeys()]) #no keys
self.assertEquals(None, r.get_service_api('non-existent'))
# Test topic subs
r = Registrations(Registrations.TOPIC_SUBSCRIPTIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.TOPIC_PUBLICATIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.PARAM_SUBSCRIPTIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.SERVICE)
self._subtest_Registrations_services(r)
def test_Registrations(self):
import rosmaster.exceptions
from rosmaster.registrations import Registrations
types = [
Registrations.TOPIC_SUBSCRIPTIONS,
Registrations.TOPIC_PUBLICATIONS, Registrations.SERVICE,
Registrations.PARAM_SUBSCRIPTIONS
]
# test enums
self.assertEquals(4, len(set(types)))
try:
r = Registrations(-1)
self.fail("Registrations accepted invalid type")
except rosmaster.exceptions.InternalException:
pass
for t in types:
r = Registrations(t)
self.assertEquals(t, r.type)
self.assert_(not r) #test nonzero
self.failIf('topic1' in r) #test contains
self.failIf(r.has_key('topic1')) #test has_key
self.failIf([k for k in r.iterkeys()]) #no keys
self.assertEquals(None, r.get_service_api('non-existent'))
# Test topic subs
r = Registrations(Registrations.TOPIC_SUBSCRIPTIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.TOPIC_PUBLICATIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.PARAM_SUBSCRIPTIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.SERVICE)
self._subtest_Registrations_services(r)
