class TestGraph(unittest.TestCase):
def setUp(self):
rospy.init_node('test_graph')
self.graph = Graph()
def test_graph(self):
flips = None
while not flips:
printtest("Waiting for flips")
self.graph.update()
flips = self.graph._local_gateway.flip_watchlist
rospy.rostime.wallsleep(0.2)
printtest("********************************************************************")
printtest("* Local Gateway")
printtest("********************************************************************")
printtest("%s" % self.graph._local_gateway)
self.assertEquals("5", str(len(flips)))
# TODO: this is currently returning the base name, is should be returning the hash name
self.assertEquals(len([flip for flip in flips if flip.gateway == "remote_gateway" and flip.rule.name == "/add_two_ints" and flip.rule.type == "service"]), 1)
self.assertEquals(len([flip for flip in flips if flip.gateway == "remote_gateway" and flip.rule.name == "/chatter" and flip.rule.type == "publisher"]), 1)
self.assertEquals(len([flip for flip in flips if flip.gateway == "remote_gateway" and flip.rule.name == "/chatter" and flip.rule.type == "subscriber"]), 1)
self.assertEquals(len([flip for flip in flips if flip.gateway == "remote_gateway" and flip.rule.name == "/fibonacci" and flip.rule.type == "action_server"]), 1)
self.assertEquals(len([flip for flip in flips if flip.gateway == "remote_gateway" and flip.rule.name == "/fibonacci" and flip.rule.type == "action_client"]), 1)
printtest("********************************************************************")
printtest("* Remote Gateway")
printtest("********************************************************************")
printtest("%s" % self.graph._remote_gateways)
for remote_gateway in self.graph._remote_gateways:
self.assertEquals("remote_gateway", rocon_gateway_utils.gateway_basename(remote_gateway.name))
def tearDown(self):
pass
class TestGraph(unittest.TestCase):
def setUp(self):
rospy.init_node('test_graph')
self.graph = Graph()
def test_graph(self):
flips = None
while not flips:
printtest("Waiting for flips")
self.graph.update()
flips = self.graph._local_gateway.flip_watchlist
rospy.sleep(0.2)
printtest(
"********************************************************************"
)
printtest("* Local Gateway")
printtest(
"********************************************************************"
)
printtest("%s" % self.graph._local_gateway)
self.assertEquals("1", str(len(flips)))
# TODO: this is currently returning the base name, is should be returning the hash name
self.assertEquals("remote_gateway", flips[0].gateway)
self.assertEquals("publisher", flips[0].rule.type)
self.assertEquals("/chatter", flips[0].rule.name)
printtest(
"********************************************************************"
)
printtest("* Remote Gateway")
printtest(
"********************************************************************"
)
printtest("%s" % self.graph._remote_gateways)
for remote_gateway in self.graph._remote_gateways:
self.assertEquals(
"remote_gateway",
rocon_utilities.gateway_basename(remote_gateway.name))
def tearDown(self):
pass
class TestFlips(unittest.TestCase):
def setUp(self):
rospy.init_node('test_pullments')
self.graph = Graph()
def test_flip_all(self):
print(
"\n********************************************************************"
)
print("* Flip All")
print(
"********************************************************************"
)
try:
samples.flip_all()
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when flipping all connections [%s]" %
str(e))
flipped_interface = self._wait_for_flipped_interface()
#print("%s" % self.graph._local_gateway)
self.assertEquals("2", str(len(flipped_interface)))
for remote_rule in flipped_interface:
self.assertEquals("/chatter", remote_rule.remote_rule.rule.name)
# Should probably assert rule.type and rule.node here as well.
# Revert state
try:
samples.flip_all(cancel=True)
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when unflipping all connections [%s]" %
str(e))
self._assert_cleared_flipped_interface()
def test_flip_tutorials(self):
print(
"\n********************************************************************"
)
print("* Flip Tutorials")
print(
"********************************************************************"
)
try:
samples.flip_tutorials()
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when flipping tutorial connections.")
flipped_interface = self._wait_for_flipped_interface()
#print("%s" % self.graph._local_gateway)
self.assertIn("/chatter", [
remote_rule.remote_rule.rule.name
for remote_rule in flipped_interface
])
try:
samples.flip_tutorials(cancel=True)
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when unflipping tutorial connections.")
self._assert_cleared_flipped_interface()
def test_flip_regex_tutorials(self):
print(
"\n********************************************************************"
)
print("* Flip Regex Tutorials")
print(
"********************************************************************"
)
try:
samples.flip_tutorials(regex_patterns=True)
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when flipping tutorial connections.")
flipped_interface = self._wait_for_flipped_interface()
print("%s" % self.graph._local_gateway)
self.assertIn("/chatter", [
remote_rule.remote_rule.rule.name
for remote_rule in flipped_interface
])
try:
samples.flip_tutorials(cancel=True, regex_patterns=True)
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when unflipping tutorial connections.")
self._assert_cleared_flipped_interface()
def tearDown(self):
pass
##########################################################################
# Utility methods
##########################################################################
def _wait_for_flipped_interface(self):
flipped_interface = None
while not flipped_interface:
self.graph.update()
flipped_interface = self.graph._local_gateway.flipped_connections
rospy.sleep(0.2)
return flipped_interface
def _assert_cleared_flipped_interface(self):
start_time = rospy.Time.now()
while True:
self.graph.update()
flipped_interface = self.graph._local_gateway.flipped_connections
if flipped_interface:
result = "cleared"
break
else:
rospy.sleep(0.2)
if rospy.Time.now() - start_time > rospy.Duration(1.0):
result = "timed out waiting for flipped interface to clear"
break
self.assertEqual("cleared", result)
class TestGraph(unittest.TestCase):
def setUp(self):
rospy.init_node('test_advertisements')
self.graph = Graph()
def test_advertise_all(self):
print("\n********************************************************************")
print("* Advertise All")
print("********************************************************************")
try:
samples.advertise_all()
except GatewaySampleRuntimeError as e:
self.fail("Runtime error caught when advertising all connections.")
public_interface = self._wait_for_public_interface()
#print("%s" % self.graph._local_gateway)
self.assertEquals("2", str(len(public_interface)))
for rule in public_interface:
self.assertEquals("/chatter", rule.name)
# Should probably assert rule.type and rule.node here as well.
# Revert state
try:
samples.advertise_all(cancel=True)
except GatewaySampleRuntimeError as e:
self.fail("Runtime error caught when unadvertising all connections.")
self._assert_cleared_public_interface()
def test_advertise_tutorials(self):
print("\n********************************************************************")
print("* Advertise Tutorials")
print("********************************************************************")
try:
samples.advertise_tutorials()
except GatewaySampleRuntimeError as e:
self.fail("Runtime error caught when advertising tutorial connections.")
public_interface = self._wait_for_public_interface()
#print("%s" % self.graph._local_gateway)
self.assertIn("/chatter", [rule.name for rule in public_interface])
try:
samples.advertise_tutorials(cancel=True)
except GatewaySampleRuntimeError as e:
self.fail("Runtime error caught when unadvertising tutorial connections.")
self._assert_cleared_public_interface()
def test_advertise_regex_tutorials(self):
print("\n********************************************************************")
print("* Advertise Regex Tutorials")
print("********************************************************************")
try:
samples.advertise_tutorials(regex_patterns=True)
except GatewaySampleRuntimeError as e:
self.fail("Runtime error caught when advertising tutorial connections.")
public_interface = self._wait_for_public_interface()
print("%s" % self.graph._local_gateway)
self.assertIn("/chatter", [rule.name for rule in public_interface])
try:
samples.advertise_tutorials(cancel=True, regex_patterns=True)
except GatewaySampleRuntimeError as e:
self.fail("Runtime error caught when unadvertising tutorial connections.")
self._assert_cleared_public_interface()
def tearDown(self):
pass
##########################################################################
# Utility methods
##########################################################################
def _wait_for_public_interface(self):
public_interface = None
while not public_interface:
self.graph.update()
public_interface = self.graph._local_gateway.public_interface
rospy.rostime.wallsleep(0.2)
return public_interface
def _assert_cleared_public_interface(self):
start_time = rospy.Time.now()
while True:
self.graph.update()
public_interface = self.graph._local_gateway.public_interface
if public_interface:
result = "cleared"
break
else:
rospy.rostime.wallsleep(0.2)
if rospy.Time.now() - start_time > rospy.Duration(2.0):
result = "timed out waiting for public interface to clear"
break
self.assertEqual("cleared", result)
class GatewayGraph(Plugin):
_deferred_fit_in_view = Signal()
def __init__(self, context):
super(GatewayGraph, self).__init__(context)
self.initialised = False
self.setObjectName('Gateway Graph')
self._current_dotcode = None
self._widget = QWidget()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
self.dotcode_generator = RosGraphDotcodeGenerator()
self.dot_to_qt = DotToQtGenerator()
self._graph = Graph()
rospack = rospkg.RosPack()
ui_file = os.path.join(rospack.get_path('rocon_gateway_graph'), 'ui',
'gateway_graph.ui')
#ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'ui', 'gateway_graph.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('GatewayGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.refresh_graph_push_button.setIcon(
QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(
self._update_gateway_graph)
self._widget.graph_type_combo_box.insertItem(0, self.tr('Gateways'),
GATEWAY_GATEWAY_GRAPH)
self._widget.graph_type_combo_box.insertItem(
1, self.tr('Pulled Connections'), GATEWAY_PULLED_GRAPH)
self._widget.graph_type_combo_box.insertItem(
2, self.tr('Flipped Connections'), GATEWAY_FLIPPED_GRAPH)
self._widget.graph_type_combo_box.setCurrentIndex(0)
self._widget.graph_type_combo_box.currentIndexChanged.connect(
self._refresh_rosgraph)
self.node_completionmodel = NamespaceCompletionModel(
self._widget.filter_line_edit, False)
completer = RepeatedWordCompleter(self.node_completionmodel, self)
completer.setCompletionMode(QCompleter.PopupCompletion)
completer.setWrapAround(True)
completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.filter_line_edit.editingFinished.connect(
self._refresh_rosgraph)
self._widget.filter_line_edit.setCompleter(completer)
self.topic_completionmodel = NamespaceCompletionModel(
self._widget.topic_filter_line_edit, False)
topic_completer = RepeatedWordCompleter(self.topic_completionmodel,
self)
topic_completer.setCompletionMode(QCompleter.PopupCompletion)
topic_completer.setWrapAround(True)
topic_completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.topic_filter_line_edit.editingFinished.connect(
self._refresh_rosgraph)
self._widget.topic_filter_line_edit.setCompleter(topic_completer)
self._widget.namespace_cluster_check_box.clicked.connect(
self._refresh_rosgraph)
self._widget.watchlist_check_box.clicked.connect(
self._refresh_rosgraph)
self._widget.all_advertisements_check_box.clicked.connect(
self._refresh_rosgraph)
self._widget.highlight_connections_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(
QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(
QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(
self._save_image)
self._update_gateway_graph()
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value(
'graph_type_combo_box_index',
self._widget.graph_type_combo_box.currentIndex())
instance_settings.set_value('filter_line_edit_text',
self._widget.filter_line_edit.text())
instance_settings.set_value('topic_filter_line_edit_text',
self._widget.topic_filter_line_edit.text())
instance_settings.set_value(
'namespace_cluster_check_box_state',
self._widget.namespace_cluster_check_box.isChecked())
instance_settings.set_value(
'watchlist_check_box_state',
self._widget.watchlist_check_box.isChecked())
instance_settings.set_value(
'all_advertisements_check_box_state',
self._widget.all_advertisements_check_box.isChecked())
instance_settings.set_value(
'auto_fit_graph_check_box_state',
self._widget.auto_fit_graph_check_box.isChecked())
instance_settings.set_value(
'highlight_connections_check_box_state',
self._widget.highlight_connections_check_box.isChecked())
def restore_settings(self, plugin_settings, instance_settings):
self._widget.graph_type_combo_box.setCurrentIndex(
int(instance_settings.value('graph_type_combo_box_index', 0)))
self._widget.filter_line_edit.setText(
instance_settings.value('filter_line_edit_text', ''))
self._widget.topic_filter_line_edit.setText(
instance_settings.value('topic_filter_line_edit_text', '/'))
self._widget.namespace_cluster_check_box.setChecked(
instance_settings.value('namespace_cluster_check_box_state', True)
in [True, 'true'])
self._widget.watchlist_check_box.setChecked(
instance_settings.value('watchlist_check_box_state', True) in
[True, 'true'])
self._widget.all_advertisements_check_box.setChecked(
instance_settings.value('all_advertisements_check_box_state',
False) in [False, 'false'])
self._widget.auto_fit_graph_check_box.setChecked(
instance_settings.value('auto_fit_graph_check_box_state', True) in
[True, 'true'])
self._widget.highlight_connections_check_box.setChecked(
instance_settings.value('highlight_connections_check_box_state',
True) in [True, 'true'])
self.initialised = True
self._refresh_rosgraph()
def shutdown_plugin(self):
pass
def _update_gateway_graph(self):
# re-enable controls customizing fetched ROS graph
self._widget.graph_type_combo_box.setEnabled(True)
self._widget.filter_line_edit.setEnabled(True)
self._widget.topic_filter_line_edit.setEnabled(True)
self._widget.namespace_cluster_check_box.setEnabled(True)
self._widget.watchlist_check_box.setEnabled(True)
self._widget.all_advertisements_check_box.setEnabled(True)
self._graph.update()
self.node_completionmodel.refresh(self._graph.gateway_nodes)
self.topic_completionmodel.refresh(self._graph.flipped_nodes)
self._refresh_rosgraph()
def _refresh_rosgraph(self):
if not self.initialised:
return
self._update_graph_view(self._generate_dotcode())
def _generate_dotcode(self):
ns_filter = self._widget.filter_line_edit.text()
topic_filter = self._widget.topic_filter_line_edit.text()
graph_mode = self._widget.graph_type_combo_box.itemData(
self._widget.graph_type_combo_box.currentIndex())
orientation = 'LR'
if self._widget.namespace_cluster_check_box.isChecked():
namespace_cluster = 1
else:
namespace_cluster = 0
hide_dead_end_topics = self._widget.watchlist_check_box.isChecked()
show_all_advertisements = self._widget.all_advertisements_check_box.isChecked(
)
return self.dotcode_generator.generate_dotcode(
rosgraphinst=self._graph,
ns_filter=ns_filter,
topic_filter=topic_filter,
graph_mode=graph_mode,
show_all_advertisements=show_all_advertisements,
hide_dead_end_topics=hide_dead_end_topics,
cluster_namespaces_level=namespace_cluster,
dotcode_factory=self.dotcode_factory,
orientation=orientation,
)
def _update_graph_view(self, dotcode):
if dotcode == self._current_dotcode:
return
self._current_dotcode = dotcode
self._redraw_graph_view()
def _generate_tool_tip(self, url):
if url is not None and ':' in url:
item_type, item_path = url.split(':', 1)
if item_type == 'node':
tool_tip = 'Node:\n %s' % (item_path)
service_names = rosservice.get_service_list(node=item_path)
if service_names:
tool_tip += '\nServices:'
for service_name in service_names:
try:
service_type = rosservice.get_service_type(
service_name)
tool_tip += '\n %s [%s]' % (service_name,
service_type)
except rosservice.ROSServiceIOException as e:
tool_tip += '\n %s' % (e)
return tool_tip
elif item_type == 'topic':
topic_type, topic_name, _ = rostopic.get_topic_type(item_path)
return 'Topic:\n %s\nType:\n %s' % (topic_name, topic_type)
return url
def _redraw_graph_view(self):
self._scene.clear()
if self._widget.highlight_connections_check_box.isChecked():
highlight_level = 3
else:
highlight_level = 1
# layout graph and create qt items
(nodes, edges) = self.dot_to_qt.dotcode_to_qt_items(
self._current_dotcode,
highlight_level=highlight_level,
same_label_siblings=True)
# if we wish to make special nodes, do that here (maybe subclass GraphItem, just like NodeItem does)
for node_item in nodes.itervalues():
if node_item._label.text() == self._graph.local_gateway_name():
orange = QColor(232, 132, 3)
node_item._default_color = orange
node_item.set_color(orange)
print "Local gateway: %s" % self._graph.local_gateway_name()
self._scene.addItem(node_item)
for edge_items in edges.itervalues():
for edge_item in edge_items:
edge_item.add_to_scene(self._scene)
self._scene.setSceneRect(self._scene.itemsBoundingRect())
if self._widget.auto_fit_graph_check_box.isChecked():
self._fit_in_view()
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open graph from file'), None,
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.graph_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.topic_filter_line_edit.setEnabled(False)
self._widget.namespace_cluster_check_box.setEnabled(False)
self._widget.watchlist_check_box.setEnabled(False)
self._widget.all_advertisements_check_box.setEnabled(False)
self._update_graph_view(dotcode)
def _fit_in_view(self):
self._widget.graphics_view.fitInView(self._scene.itemsBoundingRect(),
Qt.KeepAspectRatio)
def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as DOT'), 'rosgraph.dot',
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
handle = QFile(file_name)
if not handle.open(QIODevice.WriteOnly | QIODevice.Text):
return
handle.write(self._current_dotcode)
handle.close()
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as SVG'), 'rosgraph.svg',
self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as image'), 'rosgraph.png',
self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(),
QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
class TestPulls(unittest.TestCase):
def setUp(self):
print(
"\n********************************************************************"
)
print("* Pull Tests Setup")
print(
"********************************************************************"
)
rospy.init_node('test_pulls')
self.graph = Graph()
def test_pull_all(self):
print(
"\n********************************************************************"
)
print("* Pull All")
print(
"********************************************************************"
)
try:
samples.pull_all()
except GatewaySampleRuntimeError as e:
self.fail("Runtime error caught when advertising all connections.")
pulled_interface = self._wait_for_pulled_interface()
rospy.loginfo(console.cyan + " - local gateway graph : \n%s" %
self.graph._local_gateway + console.reset)
self.assertEquals("5", str(len(pulled_interface)))
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/add_two_ints" and
remote_rule.rule.node.split(',')[0] == "/add_two_ints_server"
and remote_rule.rule.type == "service"
]), 1)
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/chatter"
and remote_rule.rule.node.split(',')[0] == "/talker"
and remote_rule.rule.type == "publisher"
]), 1)
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/chatter"
and remote_rule.rule.node.split(',')[0] == "/listener"
and remote_rule.rule.type == "subscriber"
]), 1)
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/fibonacci/server"
and remote_rule.rule.node.split(',')[0] == "/fibonacci_server"
and remote_rule.rule.type == "action_server"
]), 1)
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/fibonacci/client"
and remote_rule.rule.node.split(',')[0] == "/fibonacci_client"
and remote_rule.rule.type == "action_client"
]), 1)
# Revert state
try:
samples.pull_all(cancel=True)
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when unadvertising all connections.")
self._assert_cleared_pulled_interface()
def test_pull_tutorials(self):
print(
"\n********************************************************************"
)
print("* Pull Tutorials")
print(
"********************************************************************"
)
try:
samples.pull_tutorials()
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when advertising tutorial connections.")
pulled_interface = self._wait_for_pulled_interface()
rospy.loginfo(console.cyan + " - local gateway graph : \n%s" %
self.graph._local_gateway + console.reset)
self.assertEquals("5", str(len(pulled_interface)))
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/add_two_ints" and
remote_rule.rule.node.split(',')[0] == "/add_two_ints_server"
and remote_rule.rule.type == "service"
]), 1)
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/chatter"
and remote_rule.rule.node.split(',')[0] == "/talker"
and remote_rule.rule.type == "publisher"
]), 1)
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/chatter"
and remote_rule.rule.node.split(',')[0] == "/listener"
and remote_rule.rule.type == "subscriber"
]), 1)
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/fibonacci/server"
and remote_rule.rule.node.split(',')[0] == "/fibonacci_server"
and remote_rule.rule.type == "action_server"
]), 1)
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/fibonacci/client"
and remote_rule.rule.node.split(',')[0] == "/fibonacci_client"
and remote_rule.rule.type == "action_client"
]), 1)
try:
samples.pull_tutorials(cancel=True)
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when unadvertising tutorial connections."
)
self._assert_cleared_pulled_interface()
def test_pull_regex_tutorials(self):
print(
"\n********************************************************************"
)
print("* Pull Regex Tutorials")
print(
"********************************************************************"
)
try:
samples.pull_tutorials(regex_patterns=True)
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when advertising tutorial connections.")
pulled_interface = self._wait_for_pulled_interface()
rospy.loginfo(console.cyan + " - local gateway graph : \n%s" %
self.graph._local_gateway + console.reset)
self.assertEquals("5", str(len(pulled_interface)))
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/add_two_ints" and
remote_rule.rule.node.split(',')[0] == "/add_two_ints_server"
and remote_rule.rule.type == "service"
]), 1)
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/chatter"
and remote_rule.rule.node.split(',')[0] == "/talker"
and remote_rule.rule.type == "publisher"
]), 1)
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/chatter"
and remote_rule.rule.node.split(',')[0] == "/listener"
and remote_rule.rule.type == "subscriber"
]), 1)
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/fibonacci/server"
and remote_rule.rule.node.split(',')[0] == "/fibonacci_server"
and remote_rule.rule.type == "action_server"
]), 1)
self.assertEquals(
len([
remote_rule for remote_rule in pulled_interface
if remote_rule.rule.name == "/fibonacci/client"
and remote_rule.rule.node.split(',')[0] == "/fibonacci_client"
and remote_rule.rule.type == "action_client"
]), 1)
try:
samples.pull_tutorials(cancel=True, regex_patterns=True)
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when unadvertising tutorial connections."
)
self._assert_cleared_pulled_interface()
def tearDown(self):
pass
##########################################################################
# Utility methods
##########################################################################
def _wait_for_pulled_interface(self):
pulled_interface = None
while not pulled_interface:
self.graph.update()
pulled_interface = self.graph._local_gateway.pulled_connections
rospy.sleep(1.0)
return pulled_interface
def _assert_cleared_pulled_interface(self):
start_time = rospy.Time.now()
while True:
self.graph.update()
pulled_interface = self.graph._local_gateway.pulled_connections
if not pulled_interface:
result = "cleared"
break
else:
rospy.sleep(0.2)
if rospy.Time.now() - start_time > rospy.Duration(2.0):
result = "timed out waiting for pulled interface to clear"
break
self.assertEqual("cleared", result)
class TestFlips(unittest.TestCase):
@classmethod
def setUpClass(cls):
# Note this should be called only once by process.
# We only run one process here, for all 3 tests
rospy.init_node('test_pullments')
@classmethod
def tearDownClass(cls):
# shutting down process here
pass
def setUp(self):
self.graph = Graph()
def test_flip_all(self):
print(console.bold + "\n********************************************************************" + console.reset)
print(console.bold + "* Flip All" + console.reset)
print(console.bold + "********************************************************************" + console.reset)
try:
samples.flip_all()
except GatewaySampleRuntimeError as e:
self.fail("Runtime error caught when flipping all connections [%s]" % str(e))
flipped_interface = self._wait_for_flipped_interface()
rospy.loginfo(console.cyan + " - local gateway graph : \n%s" % self.graph._local_gateway + console.reset)
self.assertEquals("5", str(len(flipped_interface)))
self.assertEquals(len([flip for flip in flipped_interface if flip.remote_rule.rule.name == "/add_two_ints" and flip.remote_rule.rule.node.split(',')[0] == "/add_two_ints_server" and flip.remote_rule.rule.type == "service"]), 1)
self.assertEquals(len([flip for flip in flipped_interface if flip.remote_rule.rule.name == "/chatter" and flip.remote_rule.rule.node.split(',')[0] == "/talker" and flip.remote_rule.rule.type == "publisher"]), 1)
self.assertEquals(len([flip for flip in flipped_interface if flip.remote_rule.rule.name == "/chatter" and flip.remote_rule.rule.node.split(',')[0] == "/listener" and flip.remote_rule.rule.type == "subscriber"]), 1)
self.assertEquals(len([flip for flip in flipped_interface if flip.remote_rule.rule.name == "/fibonacci/server" and flip.remote_rule.rule.node.split(',')[0] == "/fibonacci_server" and flip.remote_rule.rule.type == "action_server"]), 1)
self.assertEquals(len([flip for flip in flipped_interface if flip.remote_rule.rule.name == "/fibonacci/client" and flip.remote_rule.rule.node.split(',')[0] == "/fibonacci_client" and flip.remote_rule.rule.type == "action_client"]), 1)
result = self._wait_for_accepted_flipped_interface()
self.assertTrue(result)
# Revert state
try:
samples.flip_all(cancel=True)
except GatewaySampleRuntimeError as e:
self.fail("Runtime error caught when unflipping all connections [%s]" % str(e))
self._assert_cleared_flipped_interface()
def test_flip_tutorials(self):
print(console.bold + "\n********************************************************************" + console.reset)
print(console.bold + "* Flip Tutorials" + console.reset)
print(console.bold + "********************************************************************" + console.reset)
try:
samples.flip_tutorials()
except GatewaySampleRuntimeError as e:
self.fail("Runtime error caught when flipping tutorial connections.")
flipped_interface = self._wait_for_flipped_interface()
rospy.loginfo(console.cyan + " - local gateway graph : \n%s" % self.graph._local_gateway + console.reset)
self.assertEquals("5", str(len(flipped_interface)))
self.assertEquals(len([remote_rule for remote_rule in flipped_interface if remote_rule.remote_rule.rule.name == "/add_two_ints" and remote_rule.remote_rule.rule.node.split(',')[0] == "/add_two_ints_server" and remote_rule.remote_rule.rule.type == "service"]), 1)
self.assertEquals(len([remote_rule for remote_rule in flipped_interface if remote_rule.remote_rule.rule.name == "/chatter" and remote_rule.remote_rule.rule.node.split(',')[0] == "/talker" and remote_rule.remote_rule.rule.type == "publisher"]), 1)
self.assertEquals(len([remote_rule for remote_rule in flipped_interface if remote_rule.remote_rule.rule.name == "/chatter" and remote_rule.remote_rule.rule.node.split(',')[0] == "/listener" and remote_rule.remote_rule.rule.type == "subscriber"]), 1)
self.assertEquals(len([remote_rule for remote_rule in flipped_interface if remote_rule.remote_rule.rule.name == "/fibonacci/server" and remote_rule.remote_rule.rule.node.split(',')[0] == "/fibonacci_server" and remote_rule.remote_rule.rule.type == "action_server"]), 1)
self.assertEquals(len([remote_rule for remote_rule in flipped_interface if remote_rule.remote_rule.rule.name == "/fibonacci/client" and remote_rule.remote_rule.rule.node.split(',')[0] == "/fibonacci_client" and remote_rule.remote_rule.rule.type == "action_client"]), 1)
result = self._wait_for_accepted_flipped_interface()
self.assertTrue(result)
try:
samples.flip_tutorials(cancel=True)
except GatewaySampleRuntimeError as e:
self.fail("Runtime error caught when unflipping tutorial connections.")
self._assert_cleared_flipped_interface()
def test_flip_regex_tutorials(self):
print(console.bold + "\n********************************************************************" + console.reset)
print(console.bold + "* Flip Regex Tutorials" + console.reset)
print(console.bold + "********************************************************************" + console.reset)
try:
samples.flip_tutorials(regex_patterns=True)
except GatewaySampleRuntimeError as e:
self.fail("Runtime error caught when flipping tutorial connections.")
flipped_interface = self._wait_for_flipped_interface()
rospy.loginfo(console.cyan + " - local gateway graph : \n%s" % self.graph._local_gateway + console.reset)
self.assertEquals("5", str(len(flipped_interface)))
self.assertEquals(len([remote_rule for remote_rule in flipped_interface if remote_rule.remote_rule.rule.name == "/add_two_ints" and remote_rule.remote_rule.rule.node.split(',')[0] == "/add_two_ints_server" and remote_rule.remote_rule.rule.type == "service"]), 1)
self.assertEquals(len([remote_rule for remote_rule in flipped_interface if remote_rule.remote_rule.rule.name == "/chatter" and remote_rule.remote_rule.rule.node.split(',')[0] == "/talker" and remote_rule.remote_rule.rule.type == "publisher"]), 1)
self.assertEquals(len([remote_rule for remote_rule in flipped_interface if remote_rule.remote_rule.rule.name == "/chatter" and remote_rule.remote_rule.rule.node.split(',')[0] == "/listener" and remote_rule.remote_rule.rule.type == "subscriber"]), 1)
self.assertEquals(len([remote_rule for remote_rule in flipped_interface if remote_rule.remote_rule.rule.name == "/fibonacci/server" and remote_rule.remote_rule.rule.node.split(',')[0] == "/fibonacci_server" and remote_rule.remote_rule.rule.type == "action_server"]), 1)
self.assertEquals(len([remote_rule for remote_rule in flipped_interface if remote_rule.remote_rule.rule.name == "/fibonacci/client" and remote_rule.remote_rule.rule.node.split(',')[0] == "/fibonacci_client" and remote_rule.remote_rule.rule.type == "action_client"]), 1)
result = self._wait_for_accepted_flipped_interface()
self.assertTrue(result)
try:
samples.flip_tutorials(cancel=True, regex_patterns=True)
except GatewaySampleRuntimeError as e:
self.fail("Runtime error caught when unflipping tutorial connections.")
self._assert_cleared_flipped_interface()
def tearDown(self):
pass
##########################################################################
# Utility methods
##########################################################################
def _wait_for_accepted_flipped_interface(self):
result = False
start_time = rospy.Time.now()
while not result and (rospy.Time.now() - start_time) < rospy.Duration(5.0):
rospy.sleep(0.1)
self.graph.update()
accepted = True
flipped_interface = self.graph._local_gateway.flipped_connections
if not flipped_interface:
continue
for remote_rule in flipped_interface:
result = True
if remote_rule.status != 'accepted':
result = False
break
return result
def _wait_for_flipped_interface(self):
flipped_interface = None
while not flipped_interface:
self.graph.update()
flipped_interface = self.graph._local_gateway.flipped_connections
rospy.sleep(0.2)
return flipped_interface
def _assert_cleared_flipped_interface(self):
start_time = rospy.Time.now()
while True:
self.graph.update()
flipped_interface = self.graph._local_gateway.flipped_connections
if not flipped_interface:
result = "cleared"
break
else:
rospy.sleep(0.2)
if rospy.Time.now() - start_time > rospy.Duration(2.0):
result = "timed out waiting for flipped interface to clear"
break
self.assertEqual("cleared", result)
class TestAdvertisements(unittest.TestCase):
@classmethod
def setUpClass(cls):
# Note this should be called only once by process.
# We only run one process here, for all 3 tests
rospy.init_node('test_advertisements')
@classmethod
def tearDownClass(cls):
# shutting down process here
pass
def setUp(self):
try:
self.graph = Graph()
except Exception as exc:
self.fail()
def test_advertise_all(self):
rospy.loginfo(
console.cyan +
"********************************************************************"
+ console.reset)
rospy.loginfo(console.cyan + "* Advertise All" + console.reset)
rospy.loginfo(
console.cyan +
"********************************************************************"
+ console.reset)
try:
samples.advertise_all()
except GatewaySampleRuntimeError as e:
self.fail("Runtime error caught when advertising all connections.")
time.sleep(2)
public_interface = self._wait_for_public_interface()
rospy.loginfo(console.cyan + " - local gateway graph : \n%s" %
self.graph._local_gateway + console.reset)
self.assertEquals("5", str(len(public_interface)))
self.assertEquals(
len([
rule for rule in public_interface
if rule.name == "/add_two_ints" and rule.node ==
"/add_two_ints_server" and rule.type == "service"
]), 1)
self.assertEquals(
len([
rule for rule in public_interface if rule.name == "/chatter"
and rule.node == "/talker" and rule.type == "publisher"
]), 1)
self.assertEquals(
len([
rule for rule in public_interface if rule.name == "/chatter"
and rule.node == "/listener" and rule.type == "subscriber"
]), 1)
self.assertEquals(
len([
rule for rule in public_interface
if rule.name == "/fibonacci/server" and rule.node ==
"/fibonacci_server" and rule.type == "action_server"
]), 1)
self.assertEquals(
len([
rule for rule in public_interface
if rule.name == "/fibonacci/client" and rule.node ==
"/fibonacci_client" and rule.type == "action_client"
]), 1)
# Revert state
try:
samples.advertise_all(cancel=True)
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when unadvertising all connections.")
self._assert_cleared_public_interface()
def test_advertise_tutorials(self):
rospy.loginfo(
console.cyan +
"********************************************************************"
+ console.reset)
rospy.loginfo(console.cyan + "* Advertise Tutorials" + console.reset)
rospy.loginfo(
console.cyan +
"********************************************************************"
+ console.reset)
try:
samples.advertise_tutorials()
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when advertising tutorial connections.")
time.sleep(2)
public_interface = self._wait_for_public_interface()
rospy.loginfo(console.cyan + " - local gateway graph : \n%s" %
self.graph._local_gateway + console.reset)
self.assertEquals("5", str(len(public_interface)))
self.assertEquals(
len([
rule for rule in public_interface
if rule.name == "/add_two_ints" and rule.node ==
"/add_two_ints_server" and rule.type == "service"
]), 1)
self.assertEquals(
len([
rule for rule in public_interface if rule.name == "/chatter"
and rule.node == "/talker" and rule.type == "publisher"
]), 1)
self.assertEquals(
len([
rule for rule in public_interface if rule.name == "/chatter"
and rule.node == "/listener" and rule.type == "subscriber"
]), 1)
self.assertEquals(
len([
rule for rule in public_interface
if rule.name == "/fibonacci/server" and rule.node ==
"/fibonacci_server" and rule.type == "action_server"
]), 1)
self.assertEquals(
len([
rule for rule in public_interface
if rule.name == "/fibonacci/client" and rule.node ==
"/fibonacci_client" and rule.type == "action_client"
]), 1)
try:
samples.advertise_tutorials(cancel=True)
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when unadvertising tutorial connections."
)
self._assert_cleared_public_interface()
def test_advertise_regex_tutorials(self):
print(
"\n********************************************************************"
)
print("* Advertise Regex Tutorials")
print(
"********************************************************************"
)
try:
samples.advertise_tutorials(regex_patterns=True)
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when advertising tutorial connections.")
time.sleep(2)
public_interface = self._wait_for_public_interface()
print("%s" % self.graph._local_gateway)
self.assertEquals("5", str(len(public_interface)))
self.assertEquals(
len([
rule for rule in public_interface
if rule.name == "/add_two_ints" and rule.node ==
"/add_two_ints_server" and rule.type == "service"
]), 1)
self.assertEquals(
len([
rule for rule in public_interface if rule.name == "/chatter"
and rule.node == "/talker" and rule.type == "publisher"
]), 1)
self.assertEquals(
len([
rule for rule in public_interface if rule.name == "/chatter"
and rule.node == "/listener" and rule.type == "subscriber"
]), 1)
self.assertEquals(
len([
rule for rule in public_interface
if rule.name == "/fibonacci/server" and rule.node ==
"/fibonacci_server" and rule.type == "action_server"
]), 1)
self.assertEquals(
len([
rule for rule in public_interface
if rule.name == "/fibonacci/client" and rule.node ==
"/fibonacci_client" and rule.type == "action_client"
]), 1)
try:
samples.advertise_tutorials(cancel=True, regex_patterns=True)
except GatewaySampleRuntimeError as e:
self.fail(
"Runtime error caught when unadvertising tutorial connections."
)
self._assert_cleared_public_interface()
def tearDown(self):
pass
##########################################################################
# Utility methods
##########################################################################
def _wait_for_public_interface(self):
public_interface = None
while not public_interface:
self.graph.update()
public_interface = self.graph._local_gateway.public_interface
rospy.rostime.wallsleep(0.2)
return public_interface
def _assert_cleared_public_interface(self):
start_time = rospy.Time.now()
while True:
self.graph.update()
rospy.loginfo(console.cyan + " - getting public interface" +
console.reset)
public_interface = self.graph._local_gateway.public_interface
rospy.loginfo(console.cyan + " - public interface: \n" +
console.reset + "%s" % public_interface)
if not public_interface:
result = "cleared"
break
else:
rospy.rostime.wallsleep(0.2)
if rospy.Time.now() - start_time > rospy.Duration(10.0):
result = "timed out waiting for public interface to clear"
break
self.assertEqual("cleared", result)