def test_simple_dict(self):
params = OrderedDict(
[('a', 'A'), ]
)
result = get_params(params)
self.assertEqual(result, namedtuple(TYPE, ('a'))(a='A'))
self.assertEqual(result.a, 'A')
def test_empty_dict(self):
params = OrderedDict()
result = get_params(params)
self.assertEqual(result, namedtuple(TYPE, ())())
with self.assertRaises(AttributeError):
result.foo
def setUp(self):
super(TestFindItem, self).setUp()
params = OrderedDict(
[
('a', [OrderedDict([('key', 'KEY1'), ('value', 'VALUE1'), ]),
OrderedDict([('key', 'KEY2'), ('value', 'VALUE2'), ]), ]),
]
)
self.d = get_params(params)
self.a_type = namedtuple(TYPE, ('key', 'value'))
self.assertEqual(self.d, namedtuple(TYPE, ('a'))(a=[self.a_type(key='KEY1', value='VALUE1'),
self.a_type(key='KEY2', value='VALUE2')]))
def test_nested_list(self):
params = [
OrderedDict([('a', 'A0'), ]),
OrderedDict([('a', 'A1'), ]),
'B',
]
result = get_params(params)
a_type = namedtuple(TYPE, ('a'))
self.assertEqual(result, [a_type(a='A0'), a_type(a='A1'), 'B'])
self.assertEqual(result[0].a, 'A0')
self.assertEqual(result[1].a, 'A1')
self.assertEqual(result[2], 'B')
def main():
try:
rospy.init_node(NODE_NAME)
logger.warnf('Start test node : {}', NODE_NAME)
topic = find_item(
get_params(rospy.get_param("~")).ros.topics, 'key', 'gopigo')
pub = rospy.Publisher(topic.name, Twist, queue_size=1)
r = rospy.Rate(2)
twist = Twist()
twist.linear.x = 0.8
twist.angular.z = 0.5
while not rospy.is_shutdown():
pub.publish(twist)
r.sleep()
except rospy.ROSInterruptException:
pass
def test_complex(self):
params = OrderedDict(
[
('a', 'A'),
('b', [
OrderedDict([('ba', 'bA0'), ('bb', 'bB0'), ]),
OrderedDict([('ba', 'bA1'), ('bb', 'bB1'), ]), ]),
]
)
result = get_params(params)
b_type = namedtuple(TYPE, ('ba', 'bb'))
self.assertEqual(result, namedtuple(TYPE, ('a', 'b'))
(a='A', b=[b_type(ba='bA0', bb='bB0'), b_type(ba='bA1', bb='bB1')]))
self.assertEqual(result.a, 'A')
self.assertEqual(result.b[0].ba, 'bA0')
self.assertEqual(result.b[0].bb, 'bB0')
self.assertEqual(result.b[1].ba, 'bA1')
self.assertEqual(result.b[1].bb, 'bB1')
def test_nested_dict(self):
params = OrderedDict(
[
('a', OrderedDict(
[
('aa', 'aA'),
('ab', OrderedDict([('aba', 'abA'), ])),
]
)),
('b', 'B'),
]
)
result = get_params(params)
ab = namedtuple(TYPE, ('aba'))(aba='abA')
a = namedtuple(TYPE, ('aa', 'ab'))(aa='aA', ab=ab)
self.assertEqual(result, namedtuple(TYPE, ('a', 'b'))(a=a, b='B'))
self.assertEqual(result.a.aa, 'aA')
self.assertEqual(result.a.ab.aba, 'abA')
self.assertEqual(result.b, 'B')
def __init__(self, node_name):
self.node_name = node_name
self._params = get_params(rospy.get_param('~'))
self.__client = mqtt.Client(protocol=mqtt.MQTTv311)
self.__client.on_connect = self._on_connect
self.__client.on_message = self._on_message
rospy.on_shutdown(self._do_stop)
rospy.on_shutdown(self.__client.disconnect)
rospy.on_shutdown(self.__client.loop_stop)
self.__ros_pub = rospy.Publisher(find_item(self._params.ros.topics,
'key', 'gopigo').name,
Twist,
queue_size=1)
self.__moving = False
self.__lock = threading.Lock()
self._cmd_payload_re = re.compile(
find_item(self._params.mqtt.topics, 'key', 'fiware2gopigo').re)
def test_simple_list(self):
result = get_params(['a', 'b'])
self.assertEqual(result, ['a', 'b'])
def __init__(self, node_name):
self.node_name = node_name
self._params = get_params(rospy.get_param('~'))
rospy.Subscriber(
find_item(self._params.ros.topics, 'key', 'gopigo').name, Twist,
self._on_receive)