def test_get_publisher_unknown(self):
topic = 'unknown_type'
topic_type_str = self.topics_and_types[topic]
pub_map = LanguageToMessageTranslator.get_publisher(
topic, topic_type_str)
self.assertIsNotNone(pub_map)
self.assertEqual(0, len(pub_map))
def test_parse_command_map_unknown_type(self):
# Same as above, use an unknown message type
topic = 'unknown_type'
topic_type_str = self.topics_and_types[topic]
commands = self.params[topic]
ret = LanguageToMessageTranslator.parse_command_mapping(
topic, topic_type_str, commands)
self.assertIsNotNone(ret)
self.assertEqual({}, ret)
def test_get_publisher_float(self):
topic = 'not/a/global/topic'
topic_type_str = self.topics_and_types[topic]
pub_map = LanguageToMessageTranslator.get_publisher(
topic, topic_type_str)
self.assertIsNotNone(pub_map)
self.assertEqual(1, len(pub_map))
self.assertTrue(topic in pub_map)
pub = pub_map[topic]
self.assertIsInstance(pub, rospy.Publisher)
self.assertEqual('std_msgs/Float32', pub.type)
def test_parse_command_map_basic(self):
# Turn the commands defined in 'basic_topic' into a command mapping.
topic = 'basic_topic'
topic_type_str = self.topics_and_types[topic]
commands = self.params[topic]
ret = LanguageToMessageTranslator.parse_command_mapping(
topic, topic_type_str, commands)
self.assertIsNotNone(ret)
# Should have the same number of elements as commands.
self.assertEqual(len(commands), len(ret))
for cmd in commands: # All commands are in the map
self.assertIn(cmd, ret)
# Inspect each tuple: (topic, message)
x = ret[cmd]
self.assertEqual(2, len(x))
self.assertEqual(topic, x[0])
self.assertIsInstance(x[1], genpy.Message)
self.assertIsInstance(x[1], std_msgs.msg.String)
self.assertEqual('output', ret['input'][1].data)
self.assertEqual('output with spaces', ret['input with spaces'][1].data)
def test_parse_command_map_wrong_type(self):
not_a_type = 'NotAType'
ret = LanguageToMessageTranslator.parse_command_mapping(
'topic_name', not_a_type, {'a': 'b'})
self.assertIsNotNone(ret)
def setupTranslator(self):
self.translator = LanguageToMessageTranslator()
