def __init__(self, name, master_uri):
"""
Base constructor for ROS nodes/masters
@param name: ROS name of this node
@type name: str
@param master_uri: URI of master node, or None if this node is the master
@type master_uri: str
"""
super(ROSHandler, self).__init__()
self.masterUri = master_uri
self.name = name
self.uri = None
self.done = False
# initialize protocol handlers. The master will not have any.
self.protocol_handlers = []
handler = rospy.impl.tcpros.get_tcpros_handler()
if handler is not None:
self.protocol_handlers.append(handler)
self.reg_man = RegManager(self)
def test_RegManager(self):
from rospy.impl.registration import RegManager
class MockHandler(object):
def __init__(self):
self.done = False
self.args = []
def _connect_topic(self, topic, uri):
self.args.append(['_connect_topic', topic, uri])
# trip to done on connect topic so we can exit loop
self.done = True
return 1, 'msg', 1
# bad return value for _connect_topic
class BadHandler(object):
def __init__(self):
self.done = False
def _connect_topic(self, topic, uri):
self.done = True
return None
# bad code for _connect_topic
class BadHandler2(object):
def __init__(self):
self.done = False
def _connect_topic(self, topic, uri):
self.done = True
return -1, "failed", 1
handler = MockHandler()
m = RegManager(handler)
self.assertEquals(handler, m.handler)
self.assert_(m.logger is not None)
self.assertEquals(m.master_uri, None)
self.assertEquals(m.uri, None)
self.assertEquals([], m.updates)
try:
m.cond.acquire()
finally:
m.cond.release()
# call twice with topic 2 to test filtering logic
m.publisher_update('topic1', ['http://uri:1', 'http://uri:1b'])
m.publisher_update('topic2', ['http://old:2', 'http://old:2b'])
m.publisher_update('topic1b', ['http://foo:1', 'http://foo:1b'])
m.publisher_update('topic2', ['http://uri:2', 'http://uri:2b'])
self.assertEquals([('topic1', ['http://uri:1', 'http://uri:1b']),
('topic2', ['http://old:2', 'http://old:2b']),
('topic1b', ['http://foo:1', 'http://foo:1b']),
('topic2', ['http://uri:2', 'http://uri:2b'])],
m.updates)
# disabling these tests as they are just too dangerous now that registrations multithreads updates
if 0:
# this should only go through once as MockHandler trips to done
m.run()
# have to give time for threads to spin up and call handler
timeout_t = 10. + time.time()
while time.time() < timeout_t and len(m.updates) > 2:
time.sleep(0.1)
m.handler = BadHandler()
# this should only go through once as BadHandler trips to done. this tests the
# exception branch
m.run()
# this will cause an error to be logged in _connect_topic_thread
# - reset data in m.updates
m.updates = [('topic1', ['http://uri:1', 'http://uri:1b']),
('topic1b', ['http://foo:1', 'http://foo:1b'])]
m.handler = BadHandler2()
m.run()
# m.start should return immediately as m.master_uri is not set
self.assertEquals(m.master_uri, None)
m.start(None, None)
# test that it returns if URIs are equal
m.start('http://localhost:1234', 'http://localhost:1234')
# - test with is_shutdown overriden so we don't enter loop
def foo():
return True
sys.modules['rospy.impl.registration'].__dict__['is_shutdown'] = foo
m.start('http://localhost:1234', 'http://localhost:4567')
handler.done = True
# handler done is true, so this should not run
m.run()
# no master uri, so these should just return
m.master_uri = None
m.reg_added('n1', 'type1', 'rtype1')
m.reg_removed('n1', 'type1', 'rtype1')
m.cleanup('reason')
