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))
