def testDelete():
mongo_client = MongoClient()
mongo_client.drop_database('test')
mdb = MessageDb(mongo_client)
db = RosMessageDb(mdb)
request = InsertRequest()
request.collection.db = 'test'
request.collection.collection = 'commands'
request.msg_type = 'std_msgs/String'
request.json = json.dumps({'data': 'Hello'})
insert_response = db.insert(request)
request = DeleteRequest()
request.collection.db = 'test'
request.collection.collection = 'commands'
request.id = 'non-existent'
response = db.delete(request)
response.deleted_count == 0
assert_equals(mongo_client.test.commands.count(), 1)
request.id = insert_response.id
response = db.delete(request)
assert_equals(mongo_client.test.commands.count(), 0)
assert_equals(response.deleted_count, 1)
def testUpdate():
mongo_client = MongoClient()
mongo_client.drop_database('test')
mdb = MessageDb(mongo_client)
db = RosMessageDb(mdb)
request1 = UpdateRequest()
request1.collection.db = 'test'
request1.collection.collection = 'commands'
request1.message.id = 'non-existent'
response1 = db.update(request1)
assert_equals(response1.matched_count, 0)
insert_request = InsertRequest()
insert_request.collection.db = 'test'
insert_request.collection.collection = 'commands'
insert_request.msg_type = 'std_msgs/String'
insert_request.json = json.dumps({'data': 'Hello'})
insert_response = db.insert(insert_request)
request2 = UpdateRequest()
request2.collection.db = 'test'
request2.collection.collection = 'commands'
request2.message.id = insert_response.id
request2.message.msg_type = 'std_msgs/String'
request2.message.json = json.dumps({'data': 'World'})
response2 = db.update(request2)
assert_equals(response2.matched_count, 1)
assert_equals(mongo_client.test.commands.count(), 1)
doc = mongo_client.test.commands.find_one(
{'_id': ObjectId(insert_response.id)})
assert_equals(doc['json'], request2.message.json)
def testSubscribeFailure(Publisher):
mongo_client = MongoClient()
mongo_client.drop_database('test')
mdb = MessageDb(mongo_client)
db = RosMessageDb(mdb)
subscribe_request = SubscribeRequest()
subscribe_request.collection.db = 'test'
subscribe_request.collection.collection = 'commands'
subscribe_request.id = str(ObjectId())
subscribe_response = db.subscribe(subscribe_request)
assert subscribe_response.topic is None
assert subscribe_response.error is not None
def testInsert():
mongo_client = MongoClient()
mongo_client.drop_database('test')
mdb = MessageDb(mongo_client)
db = RosMessageDb(mdb)
request = InsertRequest()
request.collection.db = 'test'
request.collection.collection = 'commands'
request.msg_type = 'std_msgs/String'
request.json = json.dumps({'data': 'Hello'})
response = db.insert(request)
assert_equals(mongo_client.test.commands.count(), 1)
nose.tools.assert_is_not_none(
mongo_client.test.commands.find_one({'_id': ObjectId(response.id)}))
def testList():
mongo_client = MongoClient()
mongo_client.drop_database('test')
mdb = MessageDb(mongo_client)
db = RosMessageDb(mdb)
request = ListRequest()
request.collection.db = 'test'
request.collection.collection = 'commands'
response = db.list(request)
assert_equals(len(response.messages), 0)
insert_request = InsertRequest()
insert_request.collection.db = 'test'
insert_request.collection.collection = 'commands'
insert_request.msg_type = 'std_msgs/String'
insert_request.json = json.dumps({'data': 'Hello'})
insert_response = db.insert(insert_request)
response = db.list(request)
assert_equals(len(response.messages), 1)
assert_equals(response.messages[0].id, insert_response.id)
insert_request.json = json.dumps({'data': 'World'})
insert_response = db.insert(insert_request)
response = db.list(request)
assert_equals(len(response.messages), 2)
def testFind():
mongo_client = MongoClient()
mongo_client.drop_database('test')
mdb = MessageDb(mongo_client)
db = RosMessageDb(mdb)
request = FindRequest()
request.collection.db = 'test'
request.collection.collection = 'commands'
request.id = 'non-existent'
response = db.find(request)
assert_equals(response.matched_count, 0)
insert_request = InsertRequest()
insert_request.collection.db = 'test'
insert_request.collection.collection = 'commands'
insert_request.msg_type = 'std_msgs/String'
insert_request.json = json.dumps({'data': 'Hello'})
insert_response = db.insert(insert_request)
request = FindRequest()
request.collection.db = 'test'
request.collection.collection = 'commands'
request.id = 'non-existent'
response = db.find(request)
assert_equals(response.matched_count, 0)
request.id = insert_response.id
response = db.find(request)
assert_equals(response.matched_count, 1)
nose.tools.assert_is_not_none(response.message)
assert_equals(response.message.msg_type, insert_request.msg_type)
assert_equals(response.message.json, insert_request.json)
def testMultipleCollections():
mongo_client = MongoClient()
mongo_client.drop_database('test')
mdb = MessageDb(mongo_client)
db = RosMessageDb(mdb)
insert_request = InsertRequest()
insert_request.collection.db = 'test'
insert_request.collection.collection = 'commands'
insert_request.msg_type = 'std_msgs/String'
insert_request.json = json.dumps({'data': 'Hello'})
insert_response = db.insert(insert_request)
insert_request = InsertRequest()
insert_request.collection.db = 'test'
insert_request.collection.collection = 'commands2'
insert_request.msg_type = 'std_msgs/String'
insert_request.json = json.dumps({'data': 'World'})
insert_response = db.insert(insert_request)
assert_equals(mongo_client.test.commands.count(), 1)
assert_equals(mongo_client.test.commands2.count(), 1)
def main():
rospy.init_node('mongo_msg_db')
mongo_client = MongoClient()
message_database = MessageDb(mongo_client)
database = RosMessageDb(message_database)
rospy.Service('~delete', Delete, database.delete)
rospy.Service('~find', Find, database.find)
rospy.Service('~insert', Insert, database.insert)
rospy.Service('~list', List, database.list)
rospy.Service('~update', Update, database.update)
rospy.Service('~subscribe', Subscribe, database.subscribe)
rospy.Service('~subscribe_to_list', SubscribeToList,
database.subscribe_to_list)
rospy.spin()
def testSubscribeList(Publisher):
mongo_client = MongoClient()
mongo_client.drop_database('test')
mdb = MessageDb(mongo_client)
db = RosMessageDb(mdb)
insert_request = InsertRequest()
insert_request.collection.db = 'test'
insert_request.collection.collection = 'commands'
insert_request.msg_type = 'std_msgs/String'
insert_request.json = json.dumps({'data': 'Hello'})
insert_response = db.insert(insert_request)
subscribe_request = SubscribeToListRequest()
subscribe_request.collection.db = 'test'
subscribe_request.collection.collection = 'commands'
subscribe_response = db.subscribe_to_list(subscribe_request)
topic = 'mongo_msg_db/test/commands'
assert subscribe_response.topic == topic
assert subscribe_response.error is None
inserted_message = Message(id=insert_response.id,
json=insert_request.json,
msg_type='std_msgs/String')
msg_list = MessageList(messages=[inserted_message])
mdb._list_publishers['test', 'commands'].publish.assert_called_with(
msg_list)
update_request = UpdateRequest()
update_request.collection.db = 'test'
update_request.collection.collection = 'commands'
update_request.message.id = insert_response.id
update_request.message.json = json.dumps({'data': 'World'})
update_request.message.msg_type = 'std_msgs/String'
update_response = db.update(update_request)
# Expected updated list to be published
msg_list = MessageList(messages=[update_request.message])
mdb._list_publishers['test', 'commands'].publish.assert_called_with(
msg_list)
delete_request = DeleteRequest()
delete_request.collection.db = 'test'
delete_request.collection.collection = 'commands'
delete_request.id = insert_response.id
delete_response = db.delete(delete_request)
# Expected empty list to the published
msg_list = MessageList()
mdb._list_publishers['test', 'commands'].publish.assert_called_with(
msg_list)
def testSubscribe(Publisher):
mongo_client = MongoClient()
mongo_client.drop_database('test')
mdb = MessageDb(mongo_client)
db = RosMessageDb(mdb)
insert_request = InsertRequest()
insert_request.collection.db = 'test'
insert_request.collection.collection = 'commands'
insert_request.msg_type = 'std_msgs/String'
insert_request.json = json.dumps({'data': 'Hello'})
insert_response = db.insert(insert_request)
subscribe_request = SubscribeRequest()
subscribe_request.collection.db = 'test'
subscribe_request.collection.collection = 'commands'
subscribe_request.id = insert_response.id
subscribe_response = db.subscribe(subscribe_request)
topic = 'mongo_msg_db/test/commands/{}'.format(insert_response.id)
assert subscribe_response.topic == topic
assert subscribe_response.error is None
inserted_message = Message(id=insert_response.id,
json=insert_request.json,
msg_type='std_msgs/String')
event = MessageEvent(event=MessageEvent.UPDATE, message=inserted_message)
mdb._publishers[insert_response.id].publish.assert_called_with(event)
update_request = UpdateRequest()
update_request.collection.db = 'test'
update_request.collection.collection = 'commands'
update_request.message.id = insert_response.id
update_request.message.json = json.dumps({'data': 'World'})
update_request.message.msg_type = 'std_msgs/String'
update_response = db.update(update_request)
# Expected update event to be published
event = MessageEvent(event=MessageEvent.UPDATE,
message=update_request.message)
mdb._publishers[insert_response.id].publish.assert_called_with(event)
delete_request = DeleteRequest()
delete_request.collection.db = 'test'
delete_request.collection.collection = 'commands'
delete_request.id = insert_response.id
delete_response = db.delete(delete_request)
# Expected delete event to be published
empty = Message()
event = MessageEvent(event=MessageEvent.DELETE, message=empty)
mdb._publishers[insert_response.id].publish.assert_called_with(event)