def test_start_stop_capabilities(self):
# fail to start interface without a provider
with assert_raises(ServiceException):
call_service('/capability_server/start_capability', 'no_provider_pkg/Minimal2', '')
# fail to start interface which doesn't exist
with assert_raises(ServiceException):
call_service('/capability_server/start_capability', 'minimal_pkg/Minimal2', 'minimal_pkg/minimal')
# start an interface by explicitly giving a provider
call_service('/capability_server/start_capability', 'minimal_pkg/Minimal', 'minimal_pkg/minimal')
# Wait a reasonable amount of time for roslaunch to startup
# If it doesn't fully startup you get a traceback, but it will not affect the test
rospy.sleep(2)
# get list of running capabilities
resp = call_service('/capability_server/get_running_capabilities')
assert len(resp.running_capabilities) > 0, resp
capability = resp.running_capabilities[0].capability
assert 'minimal_pkg/Minimal' == capability.capability, capability.capability
# stop the capability started above
call_service('/capability_server/stop_capability', 'minimal_pkg/Minimal')
# fail to stop a capability which isn't running
with assert_raises(ServiceException):
call_service('/capability_server/stop_capability', 'minimal_pkg/Minimal')
# fail to start a capability with a provider which doesn't exist
with assert_raises(ServiceException):
call_service('/capability_server/start_capability', 'minimal_pkg/Minimal', 'minimal_pkg/minimal2')
# start a capability without specifying a provider
call_service('/capability_server/start_capability', 'minimal_pkg/Minimal', '')
call_service('/capability_server/stop_capability', 'minimal_pkg/Minimal')
# start a provider which depends on an interface without specifiying a provider
call_service('/capability_server/start_capability', 'minimal_pkg/SpecificMinimal',
'no_provider_pkg/specific_minimal2')
call_service('/capability_server/stop_capability', 'minimal_pkg/SpecificMinimal')
def test_introspection_services(self):
# Reload
call_service('/capability_server/reload_capabilities')
# get interafaces
resp = call_service('/capability_server/get_interfaces')
assert 'minimal_pkg/Minimal' in resp.interfaces, resp
# get providers by interface
resp = call_service('/capability_server/get_providers', 'minimal_pkg/Minimal', False)
assert 'minimal_pkg/minimal' in resp.providers, resp
assert 'minimal_pkg/specific_minimal' not in resp.providers, resp
# get providers by interface, include semantic interfaces
resp = call_service('/capability_server/get_providers', 'minimal_pkg/Minimal', True)
assert 'minimal_pkg/specific_minimal' in resp.providers, resp
# get all providers
resp = call_service('/capability_server/get_providers', '', False)
assert 'minimal_pkg/minimal' in resp.providers, resp
assert resp.default_provider == '', resp
# fail to get providers for non-existent interface
with assert_raises(ServiceException):
call_service('/capability_server/get_providers', 'not_a_pkg/NotAnInterface', False)
# get semantic interfaces
resp = call_service('/capability_server/get_semantic_interfaces')
assert 'minimal_pkg/SpecificMinimal' in resp.semantic_interfaces, resp
# get semantic interfaces by interface
resp = call_service('/capability_server/get_semantic_interfaces', 'minimal_pkg/Minimal')
assert 'minimal_pkg/SpecificMinimal' in resp.semantic_interfaces, resp
# get nodelet manager name
resp = call_service('/capability_server/get_nodelet_manager_name')
assert resp.nodelet_manager_name == '/capability_server_nodelet_manager', resp
def test_introspection_services(self):
# Reload
call_service('/capability_server/reload_capabilities')
# get interafaces
resp = call_service('/capability_server/get_interfaces')
assert 'minimal_pkg/Minimal' in resp.interfaces, resp
# get providers by interface
resp = call_service('/capability_server/get_providers',
'minimal_pkg/Minimal', False)
assert 'minimal_pkg/minimal' in resp.providers, resp
assert 'minimal_pkg/specific_minimal' not in resp.providers, resp
# get providers by interface, include semantic interfaces
resp = call_service('/capability_server/get_providers',
'minimal_pkg/Minimal', True)
assert 'minimal_pkg/specific_minimal' in resp.providers, resp
# get all providers
resp = call_service('/capability_server/get_providers', '', False)
assert 'minimal_pkg/minimal' in resp.providers, resp
assert resp.default_provider == '', resp
# fail to get providers for non-existent interface
with assert_raises(ServiceException):
call_service('/capability_server/get_providers',
'not_a_pkg/NotAnInterface', False)
# get semantic interfaces
resp = call_service('/capability_server/get_semantic_interfaces')
assert 'minimal_pkg/SpecificMinimal' in resp.semantic_interfaces, resp
# get semantic interfaces by interface
resp = call_service('/capability_server/get_semantic_interfaces',
'minimal_pkg/Minimal')
assert 'minimal_pkg/SpecificMinimal' in resp.semantic_interfaces, resp
# get nodelet manager name
resp = call_service('/capability_server/get_nodelet_manager_name')
assert resp.nodelet_manager_name == '/capability_server_nodelet_manager', resp
def test_start_stop_capabilities(self):
# fail to start interface without a provider
with assert_raises(ServiceException):
call_service('/capability_server/start_capability',
'no_provider_pkg/Minimal2', '')
# fail to start interface which doesn't exist
with assert_raises(ServiceException):
call_service('/capability_server/start_capability',
'minimal_pkg/Minimal2', 'minimal_pkg/minimal')
# start an interface by explicitly giving a provider
call_service('/capability_server/start_capability',
'minimal_pkg/Minimal', 'minimal_pkg/minimal')
self.ensure_capability_started('minimal_pkg/Minimal')
# get list of running capabilities
resp = call_service('/capability_server/get_running_capabilities')
assert len(resp.running_capabilities) > 0, resp
capability = resp.running_capabilities[0].capability
assert 'minimal_pkg/Minimal' == capability.capability, capability.capability
# stop the capability started above
call_service('/capability_server/stop_capability',
'minimal_pkg/Minimal')
self.ensure_capability_stopped('minimal_pkg/Minimal')
# fail to stop a capability which isn't running
with assert_raises(ServiceException):
resp = call_service('/capability_server/stop_capability',
'minimal_pkg/Minimal')
print(resp)
# fail to start a capability with a provider which doesn't exist
with assert_raises(ServiceException):
call_service('/capability_server/start_capability',
'minimal_pkg/Minimal', 'minimal_pkg/minimal2')
# start a capability without specifying a provider
call_service('/capability_server/start_capability',
'minimal_pkg/Minimal', '')
self.ensure_capability_started('minimal_pkg/Minimal')
call_service('/capability_server/stop_capability',
'minimal_pkg/Minimal')
self.ensure_capability_stopped('minimal_pkg/Minimal')
# start a provider which depends on an interface without specifiying a provider
call_service('/capability_server/start_capability',
'minimal_pkg/SpecificMinimal',
'no_provider_pkg/specific_minimal2')
self.ensure_capability_started('minimal_pkg/SpecificMinimal')
call_service('/capability_server/stop_capability',
'minimal_pkg/SpecificMinimal')
self.ensure_capability_stopped('minimal_pkg/SpecificMinimal')
def test_invalid_default_provider(self):
minimal_dir = os.path.join(TEST_DIR, 'unit', 'discovery_workspaces', 'minimal')
ros_package_path = [minimal_dir]
rospy.set_param('~defaults/minimal_pkg/Minimal', 'minimal_pkg/not_a_valid_provider')
capability_server = server.CapabilityServer(ros_package_path)
capability_server._CapabilityServer__load_capabilities()
with assert_raises(SystemExit):
capability_server._CapabilityServer__populate_default_providers()
def test_no_default_provider_pedantic(self):
no_default_provider = os.path.join(TEST_DIR, 'rostest', 'test_server', 'no_default_provider')
ros_package_path = [no_default_provider]
rospy.set_param('~missing_default_provider_is_an_error', True)
capability_server = server.CapabilityServer(ros_package_path)
capability_server._CapabilityServer__load_capabilities()
with assert_raises(SystemExit):
capability_server._CapabilityServer__populate_default_providers()
def test_no_default_provider_pedantic(self):
no_default_provider = os.path.join(TEST_DIR, 'rostest', 'test_server',
'no_default_provider')
ros_package_path = [no_default_provider]
rospy.set_param('~missing_default_provider_is_an_error', True)
capability_server = server.CapabilityServer(ros_package_path)
capability_server._CapabilityServer__load_capabilities()
with assert_raises(SystemExit):
capability_server._CapabilityServer__populate_default_providers()
def test_wrong_default_provider(self):
dc_dir = os.path.join(TEST_DIR, 'unit', 'discovery_workspaces', 'dependent_capabilities')
ros_package_path = [dc_dir]
rospy.set_param('~defaults/navigation_capability/Navigation',
'differential_mobile_base_capability/faux_differential_mobile_base')
capability_server = server.CapabilityServer(ros_package_path)
capability_server._CapabilityServer__load_capabilities()
with assert_raises(SystemExit):
capability_server._CapabilityServer__populate_default_providers()
def test_service_discovery(self):
# get spec index via a service call (This tests the handling in the server)
si, errors = spec_index_from_service()
assert not errors
assert 'minimal_pkg/Minimal' in si.interfaces
resp = call_service('/capability_server/get_capability_spec', 'minimal_pkg/Minimal')
assert resp.capability_spec.package == 'minimal_pkg', resp.capability_spec.package
assert 'name: Minimal' in resp.capability_spec.content, resp.capability_spec.content
with assert_raises(ServiceException):
resp = call_service('/capability_server/get_capability_spec', 'minimal_pkg/DoesNotExist')
def test_invalid_default_provider(self):
minimal_dir = os.path.join(TEST_DIR, 'unit', 'discovery_workspaces',
'minimal')
ros_package_path = [minimal_dir]
rospy.set_param('~defaults/minimal_pkg/Minimal',
'minimal_pkg/not_a_valid_provider')
capability_server = server.CapabilityServer(ros_package_path)
capability_server._CapabilityServer__load_capabilities()
with assert_raises(SystemExit):
capability_server._CapabilityServer__populate_default_providers()
def test_start_stop_capabilities(self):
# fail to start interface without a provider
with assert_raises(ServiceException):
call_service('/capability_server/start_capability',
'no_provider_pkg/Minimal2', '')
# fail to start interface which doesn't exist
with assert_raises(ServiceException):
call_service('/capability_server/start_capability',
'minimal_pkg/Minimal2', 'minimal_pkg/minimal')
# start an interface by explicitly giving a provider
call_service('/capability_server/start_capability',
'minimal_pkg/Minimal', 'minimal_pkg/minimal')
# Wait a reasonable amount of time for roslaunch to startup
# If it doesn't fully startup you get a traceback, but it will not affect the test
rospy.sleep(2)
# get list of running capabilities
resp = call_service('/capability_server/get_running_capabilities')
assert len(resp.running_capabilities) > 0, resp
capability = resp.running_capabilities[0].capability
assert 'minimal_pkg/Minimal' == capability.capability, capability.capability
# stop the capability started above
call_service('/capability_server/stop_capability',
'minimal_pkg/Minimal')
# fail to stop a capability which isn't running
with assert_raises(ServiceException):
call_service('/capability_server/stop_capability',
'minimal_pkg/Minimal')
# fail to start a capability with a provider which doesn't exist
with assert_raises(ServiceException):
call_service('/capability_server/start_capability',
'minimal_pkg/Minimal', 'minimal_pkg/minimal2')
# start a capability without specifying a provider
call_service('/capability_server/start_capability',
'minimal_pkg/Minimal', '')
call_service('/capability_server/stop_capability',
'minimal_pkg/Minimal')
# start a provider which depends on an interface without specifiying a provider
call_service('/capability_server/start_capability',
'minimal_pkg/SpecificMinimal',
'no_provider_pkg/specific_minimal2')
call_service('/capability_server/stop_capability',
'minimal_pkg/SpecificMinimal')
def test_wrong_default_provider(self):
dc_dir = os.path.join(TEST_DIR, 'unit', 'discovery_workspaces',
'dependent_capabilities')
ros_package_path = [dc_dir]
rospy.set_param(
'~defaults/navigation_capability/Navigation',
'differential_mobile_base_capability/faux_differential_mobile_base'
)
capability_server = server.CapabilityServer(ros_package_path)
capability_server._CapabilityServer__load_capabilities()
with assert_raises(SystemExit):
capability_server._CapabilityServer__populate_default_providers()
def test_service_discovery(self):
# get spec index via a service call (This tests the handling in the server)
si, errors = spec_index_from_service()
assert not errors
assert 'minimal_pkg/Minimal' in si.interfaces
resp = call_service('/capability_server/get_capability_spec',
'minimal_pkg/Minimal')
assert resp.capability_spec.package == 'minimal_pkg', resp.capability_spec.package
assert 'name: Minimal' in resp.capability_spec.content, resp.capability_spec.content
with assert_raises(ServiceException):
resp = call_service('/capability_server/get_capability_spec',
'minimal_pkg/DoesNotExist')
def test_start_stop_capabilities(self):
# fail to start interface without a provider
with assert_raises(ServiceException):
call_service('/capability_server/start_capability', 'no_provider_pkg/Minimal2', '')
# fail to start interface which doesn't exist
with assert_raises(ServiceException):
call_service('/capability_server/start_capability', 'minimal_pkg/Minimal2', 'minimal_pkg/minimal')
# start an interface by explicitly giving a provider
call_service('/capability_server/start_capability', 'minimal_pkg/Minimal', 'minimal_pkg/minimal')
self.ensure_capability_started('minimal_pkg/Minimal')
# get list of running capabilities
resp = call_service('/capability_server/get_running_capabilities')
assert len(resp.running_capabilities) > 0, resp
capability = resp.running_capabilities[0].capability
assert 'minimal_pkg/Minimal' == capability.capability, capability.capability
# stop the capability started above
call_service('/capability_server/stop_capability', 'minimal_pkg/Minimal')
self.ensure_capability_stopped('minimal_pkg/Minimal')
# fail to stop a capability which isn't running
with assert_raises(ServiceException):
resp = call_service('/capability_server/stop_capability', 'minimal_pkg/Minimal')
print(resp)
# fail to start a capability with a provider which doesn't exist
with assert_raises(ServiceException):
call_service('/capability_server/start_capability', 'minimal_pkg/Minimal', 'minimal_pkg/minimal2')
# start a capability without specifying a provider
call_service('/capability_server/start_capability', 'minimal_pkg/Minimal', '')
self.ensure_capability_started('minimal_pkg/Minimal')
call_service('/capability_server/stop_capability', 'minimal_pkg/Minimal')
self.ensure_capability_stopped('minimal_pkg/Minimal')
# start a provider which depends on an interface without specifiying a provider
call_service('/capability_server/start_capability', 'minimal_pkg/SpecificMinimal',
'no_provider_pkg/specific_minimal2')
self.ensure_capability_started('minimal_pkg/SpecificMinimal')
call_service('/capability_server/stop_capability', 'minimal_pkg/SpecificMinimal')
self.ensure_capability_stopped('minimal_pkg/SpecificMinimal')
