def test_Master(self):
from roslaunch.core import Master
old_env = os.environ.get('ROS_MASTER_URI', None)
try:
os.environ['ROS_MASTER_URI'] = 'http://foo:789'
m = Master()
self.assertEquals(m.type, Master.ROSMASTER)
self.assertEquals(m.uri, 'http://foo:789')
self.assertEquals(m, m)
self.assertEquals(m, Master())
m = Master(Master.ROSMASTER, 'http://foo:1234')
self.assertEquals(m.type, Master.ROSMASTER)
self.assertEquals(m.uri, 'http://foo:1234')
self.assertEquals(m, m)
self.assertEquals(m, Master(Master.ROSMASTER, 'http://foo:1234'))
import xmlrpclib
self.assert_(isinstance(m.get(), xmlrpclib.ServerProxy))
m.uri = 'http://foo:567'
self.assertEquals(567, m.get_port())
self.failIf(m.is_running())
finally:
if old_env is None:
del os.environ['ROS_MASTER_URI']
else:
os.environ['ROS_MASTER_URI'] = old_env
def test_validate_master_launch(self):
import roslaunch.launch
from roslaunch.core import Master
from roslaunch.launch import validate_master_launch
roslaunch.launch.printerrlog = self.my_printerrlog
# Good configurations
os.environ['ROS_MASTER_URI'] = 'http://localhost:11311'
m = Master(uri='http://localhost:11311')
validate_master_launch(m, True)
self.assertEquals(None, self.printerrlog_msg)
validate_master_launch(m, False)
self.assertEquals(None, self.printerrlog_msg)
# roscore with mismatched port in environment
os.environ['ROS_MASTER_URI'] = 'http://localhost:11312'
validate_master_launch(m, True)
self.assert_('port' in self.printerrlog_msg)
self.printerrlog_msg = None
# roscore with mismatched hostname in environment
os.environ['ROS_MASTER_URI'] = 'http://fake:11311'
validate_master_launch(m, True)
self.assert_('host' in self.printerrlog_msg)
self.printerrlog_msg = None
# roslaunch with remote master that cannot be contacted
os.environ['ROS_MASTER_URI'] = 'http://fake:11311'
self.assertEquals(None, self.printerrlog_msg)
# environment doesn't matter for remaining tests
os.environ['ROS_MASTER_URI'] = 'http://localhost:11311'
m = Master(uri="http://fake:11311")
# roscore with hostname that points elsewhere, warn user. This
# generally could only happen if the user has a bad local host
# config.
validate_master_launch(m, True)
self.assert_("WARNING" in self.printerrlog_msg)
self.printerrlog_msg = None
# roscore with host that is not ours
m = Master(uri="http://willowgarage.com:11311")
validate_master_launch(m, True)
self.assert_("WARNING" in self.printerrlog_msg)
self.printerrlog_msg = None
# roslaunch with remote master that is out of contact, fail
try:
validate_master_launch(m, False)
self.fail("should not pass if remote master cannot be contacted")
except roslaunch.RLException:
pass
def test_Master():
from roslaunch.core import Master
# can't verify value of is_running for actual master
m = Master(uri='http://localhost:11311')
assert m.type == Master.ROSMASTER
m.get_host() == 'localhost'
m.get_port() == 11311
assert m.is_running() in [True, False]
assert isinstance(m.get(), ServerProxy)
assert isinstance(m.get_multi(), MultiCall)
m = Master(uri='http://badhostname:11312')
m.get_host() == 'badhostname'
m.get_port() == 11312
assert m.is_running() == False
def __init__(self):
"""
Initialize an empty config object. Master defaults to the environment's master.
"""
self.master = Master()
self.nodes_core = []
self.nodes = [] #nodes are unnamed
# list of resolved node names. This is so that we can check for naming collisions
self.resolved_node_names = []
self.tests = []
self.machines = {} #key is name
self.params = {} #key is name
self.clear_params = []
self.executables = []
# for tools like roswtf
self.config_errors = []
m = local_machine() #for local exec
self.machines[m.name] = m
self._assign_machines_complete = False
self._remote_nodes_present = None
self.logger = logging.getLogger('roslaunch')
def create_master(self, type_, uri, auto_str):
"""
@param type_: type attribute or None if type attribute not provided
@type type_: str
@param uri: URI attribute or None if not specified
@type uri: str
@param auto_str: auto attribute or None if not provided
@type auto_str: str
@raise ValueError: if parameters cannot be processed into valid Master
"""
if type_ is not None and type_.strip() == '':
raise ValueError("'type' must be non-empty")
try: # auto attribute
auto_str = (auto_str or 'no').lower().strip()
auto = _master_auto[auto_str]
except KeyError:
raise ValueError("invalid <master> 'auto' value: %s" % auto_str)
# TODO: URI validation
return Master(type_=type_, uri=uri, auto=auto)
def test_Master(self):
from roslaunch.core import Master
old_env = os.environ.get('ROS_MASTER_URI', None)
try:
os.environ['ROS_MASTER_URI'] = 'http://foo:789'
m = Master()
self.assertEquals(m.type, Master.ROSMASTER)
self.assertEquals(m.uri, 'http://foo:789')
self.assertEquals(m.auto, Master.AUTO_NO)
self.assertEquals(m.log_output, False)
self.assertEquals(m, m)
self.assertEquals(m, Master())
m = Master(Master.ROSMASTER, 'http://foo:1234', Master.AUTO_START)
self.assertEquals(m.type, Master.ROSMASTER)
self.assertEquals(m.uri, 'http://foo:1234')
self.assertEquals(m.auto, Master.AUTO_START)
self.assertEquals(m.log_output, False)
self.assertEquals(m, m)
self.assertEquals(
m,
Master(Master.ROSMASTER, 'http://foo:1234', Master.AUTO_START))
import xmlrpclib
self.assert_(isinstance(m.get(), xmlrpclib.ServerProxy))
m.set_port(567)
self.assertEquals(m.uri, 'http://foo:567/')
self.failIf(m.is_running())
try:
m = Master(Master.ROSMASTER, 'http://foo:1234', False)
self.fail("should have failed on invalid auto value")
except:
pass
try:
m = Master(Master.ROSMASTER, 'http://foo:1234', 123)
self.fail("should have failed on invalid auto value")
except:
pass
finally:
if old_env is None:
del os.environ['ROS_MASTER_URI']
else:
os.environ['ROS_MASTER_URI'] = old_env