def test_reload_file(self):
ls = LaunchServicer()
path = interpret_path(
"$(find fkie_node_manager_daemon)/tests/resources/description_example.launch"
)
response = ls.ReloadLaunch(lmsg.LaunchFile(path=path), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('FILE_NOT_FOUND'),
"wrong status code on reload of not loaded file, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('FILE_NOT_FOUND'),
response.status.error_msg))
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='description_example.launch',
path=path), DummyContext())
self.assertEqual(
response.status.code, lmsg.ReturnStatus.StatusType.Value('OK'),
"wrong status code on successful load, result: %d, expected: %d, reported error: %s"
% (response.status.code, lmsg.ReturnStatus.StatusType.Value('OK'),
response.status.error_msg))
response = ls.ReloadLaunch(lmsg.LaunchFile(path=path), DummyContext())
self.assertEqual(
response.status.code, lmsg.ReturnStatus.StatusType.Value('OK'),
"wrong status code on reload of already loaded file, result: %d, expected: %d, reported error: %s"
% (response.status.code, lmsg.ReturnStatus.StatusType.Value('OK'),
response.status.error_msg))
def test_get_nodes(self):
ls = LaunchServicer()
path = interpret_path(
"$(find fkie_node_manager_daemon)/tests/resources/description_example.launch"
)
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='description_example.launch',
path=path), DummyContext())
self.assertEqual(
response.status.code, lmsg.ReturnStatus.StatusType.Value('OK'),
"wrong status code on successful load, result: %d, expected: %d, reported error: %s"
% (response.status.code, lmsg.ReturnStatus.StatusType.Value('OK'),
response.status.error_msg))
response_stream = ls.GetNodes(
lmsg.ListNodesRequest(request_description=True), DummyContext())
nodes = {}
descriptions = []
for response in response_stream:
nodes[response.launch_file] = list(response.node)
for descr in response.description:
rd = RobotDescription(machine=descr.machine,
robot_name=descr.robot_name,
robot_type=descr.robot_type,
robot_images=list(descr.robot_images),
robot_descr=descr.robot_descr)
for cap in descr.capabilities:
cp = Capability(name=cap.name,
namespace=cap.namespace,
cap_type=cap.type,
images=[img for img in cap.images],
description=cap.description,
nodes=[n for n in cap.nodes])
rd.capabilities.append(cp)
descriptions.append(rd)
self.assertEqual(
len(nodes), 1,
"wrong count of returned launch files for nodes, result: %d, expected: %d"
% (len(nodes), 1))
self.assertEqual(
len(nodes[path]), 15,
"wrong count of returned nodes, result: %d, expected: %d" %
(len(nodes[path]), 15))
self.assertEqual(
len(descriptions), 2,
"wrong count of descriptions, result: %d, expected: %d" %
(len(descriptions), 2))
self.assertEqual(
descriptions[0].robot_name, 'pc',
"wrong robot_name in first description, result: %s, expected: %s, description: %s"
% (descriptions[0].robot_name, 'pc', descriptions[0]))
self.assertEqual(
len(descriptions[0].capabilities), 0,
"wrong count of capabilities in first description, result: %d, expected: %d, description: %s"
% (len(descriptions[0].capabilities), 0, descriptions[0]))
self.assertEqual(
len(descriptions[1].capabilities), 9,
"wrong count of capabilities in second description, result: %d, expected: %d, description: %s"
% (len(descriptions[1].capabilities), 9, descriptions[1]))
def load_launch(self,
package,
launch,
path='',
args=None,
request_args=False,
masteruri='',
host=''):
'''
:return: tuple with launch file, dictionary of requested arguments
:rtype: str, {str: str}
'''
arguments = args
if arguments is None:
arguments = {}
request = lmsg.LoadLaunchRequest(package=package,
launch=launch,
path=path,
request_args=request_args,
masteruri=masteruri,
host=host)
request.args.extend([
lmsg.Argument(name=name, value=value)
for name, value in arguments.items()
])
response = self.lm_stub.LoadLaunch(request,
timeout=settings.GRPC_TIMEOUT)
if response.status.code == OK:
pass
elif response.status.code == MULTIPLE_LAUNCHES:
raise exceptions.LaunchSelectionRequest(
[_path for _path in response.path], response.status.error_msg)
elif response.status.code == PARAMS_REQUIRED:
raise exceptions.ParamSelectionRequest(
{arg.name: arg.value
for arg in response.args}, response.status.error_msg)
elif response.status.code == ALREADY_OPEN:
raise exceptions.AlreadyOpenException(response.path[0],
response.status.error_msg)
else:
raise exceptions.RemoteException(response.status.code,
response.status.error_msg)
return response.path[0], {arg.name: arg.value for arg in response.args}
def test_load_launch(self):
ls = LaunchServicer()
path = ''
args = {}
request_args = True
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='no_file.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('FILE_NOT_FOUND'),
"wrong status code if launch file not exists, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('FILE_NOT_FOUND'),
response.status.error_msg))
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='unknonwn_package',
launch='no_file.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('FILE_NOT_FOUND'),
"wrong status code if package not exists, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('FILE_NOT_FOUND'),
response.status.error_msg))
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='description_example.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('MULTIPLE_LAUNCHES'),
"wrong status code for multiple launch files, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('MULTIPLE_LAUNCHES'),
response.status.error_msg))
self.assertEqual(
len(response.path), 2,
"wrong count of multiple launch files, result: %d, expected: %d" %
(len(response.path), 2))
path = interpret_path(
"$(find fkie_node_manager_daemon)/tests/resources/description_example.launch"
)
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='description_example.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('PARAMS_REQUIRED'),
"wrong status code for request arguments, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('PARAMS_REQUIRED'),
response.status.error_msg))
args = {arg.name: arg.value for arg in response.args}
request_args = False
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='description_example.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code, lmsg.ReturnStatus.StatusType.Value('OK'),
"wrong status code on successful load, result: %d, expected: %d, reported error: %s"
% (response.status.code, lmsg.ReturnStatus.StatusType.Value('OK'),
response.status.error_msg))
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='description_example.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('ALREADY_OPEN'),
"wrong status code if file is already open, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('ALREADY_OPEN'),
response.status.error_msg))
self.assertEqual(
response.path[0], path,
"Wrong returned path in ALREADY_OPEN reply, expected: %s, got: %s"
% (response.path[0], path))
# test loaded file
response_stream = ls.GetLoadedFiles(lmsg.Empty(), DummyContext())
items = [response for response in response_stream]
self.assertEqual(
len(items), 1,
"The count of loaded files after successful load is wrong")
self.assertEqual(
items[0].path, path,
"Wrong reported loaded file path, got: %s, expected: %s" %
(items[0].path, path))
self.assertEqual(
items[0].package, 'fkie_node_manager_daemon',
"Wrong reported loaded package, got: %s, expected: %s" %
(items[0].package, 'fkie_node_manager_daemon'))
self.assertEqual(
items[0].launch, 'description_example.launch',
"Wrong reported loaded launch, got: %s, expected: %s" %
(items[0].launch, 'description_example.launch'))