def test_json_formatter_to_ros_msg(self):
msg_typ_info = {}
msg_typ_info['HelloMessage'] = 'rospy_message_transporter'
msg_typ_info['HeartbeatMessage'] = 'rospy_message_transporter'
message_formatter = JsonFormatter('messageType', msg_typ_info)
json = '{"status": 0, "droneID": "UAV123", "altitude": 40, "longitude": 40, "sessionID": "SE123", "latitude": 40, "batteryLevel": 0.7, "messageType": "HeartbeatMessage"}'
msg = message_formatter.format_to_ros_msg(json)
expected_msg = HeartbeatMessage()
expected_msg.droneID = "UAV123"
expected_msg.sessionID = "SE123"
expected_msg.batteryLevel = 0.7
expected_msg.status = 0
expected_msg.latitude = 40
expected_msg.longitude = 40
expected_msg.altitude = 40
expected_msg.messageType = "HeartbeatMessage"
self.assertEqual(msg, expected_msg)
self.assertTrue(isinstance(msg, HeartbeatMessage))
def test_json_format_from_ros_msg(self):
msg_typ_info = {}
msg_typ_info['HelloMessage'] = 'rospy_message_transporter'
msg_typ_info['HeartbeatMessage'] = 'rospy_message_transporter'
message_formatter = JsonFormatter('messageType', msg_typ_info)
msg = HeartbeatMessage()
msg.droneID = "UAV123"
msg.sessionID = "SE123"
msg.batteryLevel = 0.7
msg.status = 0
msg.latitude = 40
msg.longitude = 40
msg.altitude = 40
json = message_formatter.format_from_ros_msg(msg)
expected_json = '{"status": 0, "droneID": "UAV123", "altitude": 40, "longitude": 40, "sessionID": "SE123", "messageType": "", "latitude": 40, "batteryLevel": 0.7}'
self.assertEqual(json, expected_json)
def test_json_formatter_to_ros_msg(self):
msg_typ_info = {}
msg_typ_info['HelloMessage'] = 'rospy_message_transporter'
msg_typ_info['HeartbeatMessage'] = 'rospy_message_transporter'
message_formatter = JsonFormatter('messageType',msg_typ_info)
json = '{"status": 0, "droneID": "UAV123", "altitude": 40, "longitude": 40, "sessionID": "SE123", "latitude": 40, "batteryLevel": 0.7, "messageType": "HeartbeatMessage"}'
msg = message_formatter.format_to_ros_msg(json)
expected_msg = HeartbeatMessage()
expected_msg.droneID = "UAV123"
expected_msg.sessionID = "SE123"
expected_msg.batteryLevel = 0.7
expected_msg.status = 0
expected_msg.latitude = 40
expected_msg.longitude = 40
expected_msg.altitude = 40
expected_msg.messageType = "HeartbeatMessage"
self.assertEqual(msg, expected_msg)
self.assertTrue(isinstance(msg, HeartbeatMessage))
def test_publishing_handler_handle(self):
try:
pub_info = {}
pub_info['HelloMessage'] = rospy.Publisher('Hello_Topic', HelloMessage, queue_size=10)
pub_info['HeartbeatMessage'] = rospy.Publisher('Heartbeat_Topic', HeartbeatMessage, queue_size=10)
pub_handler = PublishingHandler(pub_info)
expected_msg = HeartbeatMessage()
expected_msg.droneID = "UAV123"
expected_msg.sessionID = "SE123"
expected_msg.batteryLevel = 0.7
expected_msg.status = 0
expected_msg.latitude = 40
expected_msg.longitude = 40
expected_msg.altitude = 40
expected_msg.messageType = "HeartbeatMessage"
self.assertEqual(pub_handler.handle(expected_msg),"HeartbeatMessage")
except rospy.ROSInterruptException:
pass
def test_json_format_from_ros_msg(self):
msg_typ_info = {}
msg_typ_info['HelloMessage'] = 'rospy_message_transporter'
msg_typ_info['HeartbeatMessage'] = 'rospy_message_transporter'
message_formatter = JsonFormatter('messageType',msg_typ_info)
msg = HeartbeatMessage()
msg.droneID = "UAV123"
msg.sessionID = "SE123"
msg.batteryLevel = 0.7
msg.status = 0
msg.latitude = 40
msg.longitude = 40
msg.altitude = 40
json = message_formatter.format_from_ros_msg(msg)
expected_json = '{"status": 0, "droneID": "UAV123", "altitude": 40, "longitude": 40, "sessionID": "SE123", "messageType": "", "latitude": 40, "batteryLevel": 0.7}'
self.assertEqual(json, expected_json)
def test_publishing_handler_handle(self):
try:
pub_info = {}
pub_info['HelloMessage'] = rospy.Publisher('Hello_Topic',
HelloMessage,
queue_size=10)
pub_info['HeartbeatMessage'] = rospy.Publisher('Heartbeat_Topic',
HeartbeatMessage,
queue_size=10)
pub_handler = PublishingHandler(pub_info)
expected_msg = HeartbeatMessage()
expected_msg.droneID = "UAV123"
expected_msg.sessionID = "SE123"
expected_msg.batteryLevel = 0.7
expected_msg.status = 0
expected_msg.latitude = 40
expected_msg.longitude = 40
expected_msg.altitude = 40
expected_msg.messageType = "HeartbeatMessage"
self.assertEqual(pub_handler.handle(expected_msg),
"HeartbeatMessage")
except rospy.ROSInterruptException:
pass
