def test_RoslaunchChild(self):
# this is mainly a code coverage test to try and make sure that we don't
# have any uninitialized references, etc...
from roslaunch.child import ROSLaunchChild
name = 'child-%s' % time.time()
server_uri = 'http://unroutable:1234'
c = ROSLaunchChild(self.run_id, name, server_uri)
self.assertEquals(self.run_id, c.run_id)
self.assertEquals(name, c.name)
self.assertEquals(server_uri, c.server_uri)
# - this check tests our assumption about c's process monitor field
self.assertEquals(None, c.pm)
self.assertEquals(None, c.child_server)
# should be a noop
c.shutdown()
# create a new child to test _start_pm() and shutdown()
c = ROSLaunchChild(self.run_id, name, server_uri)
# - test _start_pm and shutdown logic
c._start_pm()
self.assert_(c.pm is not None)
c.shutdown()
# create a new child to test run() with a fake process
# monitor. this requires an actual parent server to be running
import roslaunch.config
server = roslaunch.server.ROSLaunchParentNode(
roslaunch.config.ROSLaunchConfig(), self.pmon)
# - register a fake child with the server so that it accepts registration from ROSLaunchChild
server.add_child(name, ChildProcessMock('foo'))
try:
server.start()
self.assert_(server.uri, "server URI did not initialize")
c = ROSLaunchChild(self.run_id, name, server.uri)
c.pm = self.pmon
# - run should speed through
c.run()
finally:
server.shutdown('test done')
# one final test for code completness: raise an exception during run()
c = ROSLaunchChild(self.run_id, name, server_uri)
def bad():
raise Exception('haha')
# - violate some encapsulation here just to make sure the exception happens
c._start_pm = bad
try:
# this isn't really a correctness test, this just manually
# tests that the exception is logged
c.run()
except:
pass
def test_ROSLaunchChildNode(self):
from roslaunch.server import ROSLaunchChildNode
from roslaunch.server import ChildROSLaunchProcess
pmon = self.pmon
import roslib.params
try:
# if there is a core up, we have to use its run id
run_id = roslib.params.get_param('/run_id')
except:
run_id = 'foo-%s' % time.time()
name = 'foo-bob'
server_uri = 'http://localhost:12345'
try:
ROSLaunchChildNode(run_id, name, server_uri, None)
self.fail("should not allow pm as None")
except:
pass
try:
ROSLaunchChildNode(run_id, name, 'http://bad_uri:0', pmon)
self.fail("should not allow bad uri")
except:
pass
n = ROSLaunchChildNode(run_id, name, server_uri, pmon)
self.assertEquals(run_id, n.run_id)
self.assertEquals(name, n.name)
self.assertEquals(server_uri, n.server_uri)
# tests for actual registration with server
import roslaunch.config
server = roslaunch.server.ROSLaunchParentNode(
roslaunch.config.ROSLaunchConfig(), self.pmon)
# - register a fake child with the server so that it accepts registration from ROSLaunchChild
child_proc = ChildROSLaunchProcess('foo', [], {})
server.add_child(name, child_proc)
try:
server.start()
self.assert_(server.uri, "server URI did not initialize")
s = ServerProxy(server.uri)
print "SERVER STARTED"
# start the child
n = ROSLaunchChildNode(run_id, name, server.uri, pmon)
n.start()
print "CHILD STARTED"
self.assert_(n.uri, "child URI did not initialize")
# verify registration
print "VERIFYING REGISTRATION"
self.assertEquals(child_proc.uri, n.uri)
child_uri = 'http://fake-unroutable:1324'
# - list children
val = self._succeed(s.list_children())
self.assertEquals([n.uri], val)
finally:
print "SHUTTING DOWN"
n.shutdown('test done')
server.shutdown('test done')
def test_ROSLaunchParentNode(self):
from roslaunch.server import ROSLaunchParentNode
from roslaunch.server import ChildROSLaunchProcess
from roslaunch.config import ROSLaunchConfig
from roslaunch.pmon import ProcessListener
rosconfig = ROSLaunchConfig()
try:
ROSLaunchParentNode(rosconfig, None)
self.fail("should not allow pm as None")
except:
pass
pmon = self.pmon
n = ROSLaunchParentNode(rosconfig, pmon)
self.assertEquals(rosconfig, n.rosconfig)
self.assertEquals([], n.listeners)
self.assertEquals({}, n.child_processes)
self.assertEquals(n.handler.listeners, n.listeners)
self.assertEquals(n.handler.child_processes, n.child_processes)
# test add listener
self.assertEquals(n.handler.listeners, n.listeners)
l = ProcessListener()
n.add_process_listener(l)
self.assertEquals([l], n.listeners)
self.assertEquals(n.handler.listeners, n.listeners)
# now, lets make some xmlrpc calls against it
import roslaunch.config
server = roslaunch.server.ROSLaunchParentNode(
roslaunch.config.ROSLaunchConfig(), self.pmon)
# it's really dangerous for logging when both a parent and a
# child are in the same process, so out of paranoia, clear the
# logging handlers
roslaunch.core.clear_printlog_handlers()
roslaunch.core.clear_printerrlog_handlers()
# - register a fake child with the server so that it accepts registration from ROSLaunchChild
child_name = 'child-%s' % time.time()
child_proc = ChildROSLaunchProcess('foo', [], {})
server.add_child(child_name, child_proc)
try:
server.start()
self.assert_(server.uri, "server URI did not initialize")
s = ServerProxy(server.uri)
child_uri = 'http://fake-unroutable:1324'
# - list children should be empty
val = self._succeed(s.list_children())
self.assertEquals([], val)
# - register
val = self._succeed(s.register(child_name, child_uri))
self.assertEquals(1, val)
# - list children
val = self._succeed(s.list_children())
self.assertEquals([child_uri], val)
finally:
server.shutdown('test done')
def test_roslaunchChild(self):
# this is mainly a code coverage test to try and make sure that we don't
# have any uninitialized references, etc...
from roslaunch.child import ROSLaunchChild
name = 'child-%s'%time.time()
server_uri = 'http://unroutable:1234'
c = ROSLaunchChild(self.run_id, name, server_uri)
self.assertEquals(self.run_id, c.run_id)
self.assertEquals(name, c.name)
self.assertEquals(server_uri, c.server_uri)
# - this check tests our assumption about c's process monitor field
self.assertEquals(None, c.pm)
self.assertEquals(None, c.child_server)
# should be a noop
c.shutdown()
# create a new child to test _start_pm() and shutdown()
c = ROSLaunchChild(self.run_id, name, server_uri)
# - test _start_pm and shutdown logic
c._start_pm()
self.assert_(c.pm is not None)
c.shutdown()
# create a new child to test run() with a fake process
# monitor. this requires an actual parent server to be running
import roslaunch.config
server = roslaunch.server.ROSLaunchParentNode(roslaunch.config.ROSLaunchConfig(), self.pmon)
# - register a fake child with the server so that it accepts registration from ROSLaunchChild
server.add_child(name, ChildProcessMock('foo'))
try:
server.start()
self.assert_(server.uri, "server URI did not initialize")
c = ROSLaunchChild(self.run_id, name, server.uri)
c.pm = self.pmon
# - run should speed through
c.run()
finally:
server.shutdown('test done')
# one final test for code completness: raise an exception during run()
c = ROSLaunchChild(self.run_id, name, server_uri)
def bad():
raise Exception('haha')
# - violate some encapsulation here just to make sure the exception happens
c._start_pm = bad
try:
# this isn't really a correctness test, this just manually
# tests that the exception is logged
c.run()
except:
pass
def test_ROSLaunchChildNode(self):
from roslaunch.server import ROSLaunchChildNode
from roslaunch.server import ChildROSLaunchProcess
pmon = self.pmon
import roslib.params
try:
# if there is a core up, we have to use its run id
run_id = roslib.params.get_param('/run_id')
except:
run_id = 'foo-%s'%time.time()
name = 'foo-bob'
server_uri = 'http://localhost:12345'
try:
ROSLaunchChildNode(run_id, name, server_uri, None)
self.fail("should not allow pm as None")
except: pass
try:
ROSLaunchChildNode(run_id, name, 'http://bad_uri:0', pmon)
self.fail("should not allow bad uri")
except: pass
n = ROSLaunchChildNode(run_id, name, server_uri, pmon)
self.assertEquals(run_id, n.run_id)
self.assertEquals(name, n.name)
self.assertEquals(server_uri, n.server_uri)
# tests for actual registration with server
import roslaunch.config
server = roslaunch.server.ROSLaunchParentNode(roslaunch.config.ROSLaunchConfig(), self.pmon)
# - register a fake child with the server so that it accepts registration from ROSLaunchChild
child_proc = ChildROSLaunchProcess('foo', [], {})
server.add_child(name, child_proc)
try:
server.start()
self.assert_(server.uri, "server URI did not initialize")
s = ServerProxy(server.uri)
print "SERVER STARTED"
# start the child
n = ROSLaunchChildNode(run_id, name, server.uri, pmon)
n.start()
print "CHILD STARTED"
self.assert_(n.uri, "child URI did not initialize")
# verify registration
print "VERIFYING REGISTRATION"
self.assertEquals(child_proc.uri, n.uri)
child_uri = 'http://fake-unroutable:1324'
# - list children
val = self._succeed(s.list_children())
self.assertEquals([n.uri], val)
finally:
print "SHUTTING DOWN"
n.shutdown('test done')
server.shutdown('test done')
def test_ROSLaunchParentNode(self):
from roslaunch.server import ROSLaunchParentNode
from roslaunch.server import ChildROSLaunchProcess
from roslaunch.config import ROSLaunchConfig
from roslaunch.pmon import ProcessListener
rosconfig = ROSLaunchConfig()
try:
ROSLaunchParentNode(rosconfig, None)
self.fail("should not allow pm as None")
except: pass
pmon = self.pmon
n = ROSLaunchParentNode(rosconfig, pmon)
self.assertEquals(rosconfig, n.rosconfig)
self.assertEquals([], n.listeners)
self.assertEquals({}, n.child_processes)
self.assertEquals(n.handler.listeners, n.listeners)
self.assertEquals(n.handler.child_processes, n.child_processes)
# test add listener
self.assertEquals(n.handler.listeners, n.listeners)
l = ProcessListener()
n.add_process_listener(l)
self.assertEquals([l], n.listeners)
self.assertEquals(n.handler.listeners, n.listeners)
# now, lets make some xmlrpc calls against it
import roslaunch.config
server = roslaunch.server.ROSLaunchParentNode(roslaunch.config.ROSLaunchConfig(), self.pmon)
# it's really dangerous for logging when both a parent and a
# child are in the same process, so out of paranoia, clear the
# logging handlers
roslaunch.core.clear_printlog_handlers()
roslaunch.core.clear_printerrlog_handlers()
# - register a fake child with the server so that it accepts registration from ROSLaunchChild
child_name = 'child-%s'%time.time()
child_proc = ChildROSLaunchProcess('foo', [], {})
server.add_child(child_name, child_proc)
try:
server.start()
self.assert_(server.uri, "server URI did not initialize")
s = ServerProxy(server.uri)
child_uri = 'http://fake-unroutable:1324'
# - list children should be empty
val = self._succeed(s.list_children())
self.assertEquals([], val)
# - register
val = self._succeed(s.register(child_name, child_uri))
self.assertEquals(1, val)
# - list children
val = self._succeed(s.list_children())
self.assertEquals([child_uri], val)
finally:
server.shutdown('test done')