def test_cmd_call(self):
import rosservice
cmd = 'rosservice'
try:
rosservice.rosservicemain([cmd, 'call'])
self.fail("arg parsing should have failed")
except SystemExit: pass
try:
rosservice.rosservicemain([cmd, 'call', 'add_two_ints', '1', '2', '3'])
self.fail("should have failed with too many args")
except SystemExit: pass
def test_cmd_call(self):
import rosservice
cmd = 'rosservice'
try:
rosservice.rosservicemain([cmd, 'call'])
self.fail("arg parsing should have failed")
except SystemExit: pass
try:
rosservice.rosservicemain([cmd, 'call', 'add_two_ints', '1', '2', '3'])
self.fail("should have failed with too many args")
except SystemExit: pass
def test_cmd_info(self):
import rosservice
cmd = 'rosservice'
try:
rosservice.rosservicemain([cmd, 'info'])
self.fail("should have exited with error")
except SystemExit: pass
try:
rosservice.rosservicemain([cmd, 'info', '/fake_service'])
self.fail("should have exited with error")
except SystemExit: pass
try:
rosservice.rosservicemain([cmd, 'info', '/add_two_ints', '/foo/add_two_ints'])
self.fail("should have exited with error")
except SystemExit: pass
for s in ['/add_two_ints', 'add_two_ints', 'foo/add_two_ints']:
with fakestdout() as b:
rosservice.rosservicemain([cmd, 'info', s])
d = todict(b.getvalue())
if 'foo' in s:
self.assertEquals('/foo/a2iserver', d['Node'])
else:
self.assertEquals('/a2iserver', d['Node'], repr(d['Node']))
self.assertEquals('test_rosmaster/AddTwoInts', d['Type'])
self.assertEquals('a b', d['Args'])
self.assert_('URI' in d)
def test_cmd_info(self):
import rosservice
cmd = 'rosservice'
try:
rosservice.rosservicemain([cmd, 'info'])
self.fail("should have exited with error")
except SystemExit: pass
try:
rosservice.rosservicemain([cmd, 'info', '/fake_service'])
self.fail("should have exited with error")
except SystemExit: pass
try:
rosservice.rosservicemain([cmd, 'info', '/add_two_ints', '/foo/add_two_ints'])
self.fail("should have exited with error")
except SystemExit: pass
for s in ['/add_two_ints', 'add_two_ints', 'foo/add_two_ints']:
with fakestdout() as b:
rosservice.rosservicemain([cmd, 'info', s])
d = todict(b.getvalue())
if 'foo' in s:
self.assertEquals('/foo/a2iserver', d['Node'])
else:
self.assertEquals('/a2iserver', d['Node'], repr(d['Node']))
self.assertEquals('test_ros/AddTwoInts', d['Type'])
self.assertEquals('a b', d['Args'])
self.assert_('URI' in d)
def test_cmd_find(self):
import rosservice
cmd = 'rosservice'
try:
rosservice.rosservicemain([cmd, 'find'])
self.fail("arg parsing should have failed")
except SystemExit:
pass
try:
rosservice.rosservicemain(
[cmd, 'find', 'test_ros/AddTwoInts', 'test/AddThreeInts'])
self.fail("arg parsing should have failed")
except SystemExit:
pass
v = set(['/add_two_ints', '/bar/add_two_ints', '/foo/add_two_ints'])
with fakestdout() as b:
rosservice.rosservicemain(
[cmd, 'find', 'test_rosmaster/AddTwoInts'])
d = set([x for x in b.getvalue().split('\n') if x.strip()])
self.assertEquals(v, d)
with fakestdout() as b:
rosservice.rosservicemain([cmd, 'find', 'fake/AddTwoInts'])
self.assertEquals('', b.getvalue().strip())
def test_cmd_node(self):
import rosservice
cmd = 'rosservice'
for s in ['/add_two_ints', 'add_two_ints', 'foo/add_two_ints']:
with fakestdout() as b:
rosservice.rosservicemain([cmd, 'node', s])
v = b.getvalue().strip()
if 'foo' in s:
self.assertEquals('/foo/a2iserver', v)
else:
self.assertEquals('/a2iserver', v)
try:
rosservice.rosservicemain([cmd, 'node', '/fake_two_ints'])
self.fail("should have exited with error")
except SystemExit: pass
def test_cmd_uri(self):
import rosservice
cmd = 'rosservice'
with fakestdout() as b:
try:
rosservice.rosservicemain([cmd, 'uri', '/fake_service'])
self.fail("should have triggered error exit")
except SystemExit:
pass
for s in ['/add_two_ints', 'add_two_ints', 'foo/add_two_ints']:
with fakestdout() as b:
rosservice.rosservicemain([cmd, 'uri', s])
v = b.getvalue().strip()
self.assert_(v.startswith('rosrpc://'), v)
def test_cmd_type(self):
import rosservice
cmd = 'rosservice'
s = '/add_two_ints'
try:
rosservice.rosservicemain([cmd, 'type', '/fake_service'])
self.fail("should have triggered error exit")
except SystemExit:
pass
for s in ['/add_two_ints', 'add_two_ints', 'foo/add_two_ints']:
with fakestdout() as b:
rosservice.rosservicemain([cmd, 'type', s])
v = b.getvalue().strip()
self.assertEquals('test_rosmaster/AddTwoInts', v)
def test_cmd_node(self):
import rosservice
cmd = 'rosservice'
for s in ['/add_two_ints', 'add_two_ints', 'foo/add_two_ints']:
with fakestdout() as b:
rosservice.rosservicemain([cmd, 'node', s])
v = b.getvalue().strip()
if 'foo' in s:
self.assertEquals('/foo/a2iserver', v)
else:
self.assertEquals('/a2iserver', v)
try:
rosservice.rosservicemain([cmd, 'node', '/fake_two_ints'])
self.fail("should have exited with error")
except SystemExit: pass
def test_cmd_uri(self):
import rosservice
cmd = 'rosservice'
with fakestdout() as b:
try:
rosservice.rosservicemain([cmd, 'uri', '/fake_service'])
self.fail("should have triggered error exit")
except SystemExit:
pass
for s in ['/add_two_ints', 'add_two_ints', 'foo/add_two_ints']:
with fakestdout() as b:
rosservice.rosservicemain([cmd, 'uri', s])
v = b.getvalue().strip()
self.assert_(v.startswith('rosrpc://'), v)
def test_cmd_type(self):
import rosservice
cmd = 'rosservice'
s = '/add_two_ints'
try:
rosservice.rosservicemain([cmd, 'type', '/fake_service'])
self.fail("should have triggered error exit")
except SystemExit:
pass
for s in ['/add_two_ints', 'add_two_ints', 'foo/add_two_ints']:
with fakestdout() as b:
rosservice.rosservicemain([cmd, 'type', s])
v = b.getvalue().strip()
self.assertEquals('test_ros/AddTwoInts', v)
def test_cmd_find(self):
import rosservice
cmd = 'rosservice'
try:
rosservice.rosservicemain([cmd, 'find'])
self.fail("arg parsing should have failed")
except SystemExit: pass
try:
rosservice.rosservicemain([cmd, 'find', 'test_ros/AddTwoInts', 'test/AddThreeInts'])
self.fail("arg parsing should have failed")
except SystemExit: pass
v = set(['/add_two_ints', '/bar/add_two_ints', '/foo/add_two_ints'])
with fakestdout() as b:
rosservice.rosservicemain([cmd, 'find', 'test_rosmaster/AddTwoInts'])
d = set([x for x in b.getvalue().split('\n') if x.strip()])
self.assertEquals(v, d)
with fakestdout() as b:
rosservice.rosservicemain([cmd, 'find', 'fake/AddTwoInts'])
self.assertEquals('', b.getvalue().strip())
def test_cmd_list(self):
import rosservice
cmd = 'rosservice'
s = '/add_two_ints'
# test main entry
rosservice.rosservicemain([cmd, 'list'])
# test directly
services = ['/add_two_ints',
'/foo/add_two_ints',
'/bar/add_two_ints',
'/header_echo',
]
services_nodes = ['/add_two_ints /a2iserver',
'/foo/add_two_ints /foo/a2iserver',
'/bar/add_two_ints /bar/a2iserver',
'/header_echo /headerserver',
]
with fakestdout() as b:
rosservice._rosservice_cmd_list([cmd, 'list'])
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
v = [x for x in v if not x.startswith('/rosout/')]
v = [x for x in v if not x.endswith('/get_loggers') and not x.endswith('/set_logger_level')]
self.assertEquals(set(services), set(v))
with fakestdout() as b:
rosservice._rosservice_cmd_list([cmd, 'list', '-n'])
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
v = [x for x in v if not x.startswith('/rosout/')]
v = [x for x in v if x.find('/get_loggers ') == -1 and x.find('/set_logger_level ') == -1]
self.assertEquals(set(services_nodes), set(v))
with fakestdout() as b:
rosservice._rosservice_cmd_list([cmd, 'list', '--nodes'])
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
v = [x for x in v if not x.startswith('/rosout/')]
v = [x for x in v if x.find('/get_loggers ') == -1 and x.find('/set_logger_level ') == -1]
self.assertEquals(set(services_nodes), set(v))
# test with multiple service names
try:
rosservice._rosservice_cmd_list([cmd, 'list', s, s])
self.fail("should have caused parser error")
except SystemExit:
pass
# test with resolved service names
for s in services:
with fakestdout() as b:
rosservice._rosservice_cmd_list([cmd, 'list', s])
self.assertEquals(s, b.getvalue().strip())
# test with relative service names
s = 'add_two_ints'
with fakestdout() as b:
rosservice._rosservice_cmd_list([cmd, 'list', s])
self.assertEquals('/add_two_ints', b.getvalue().strip())
with fakestdout() as b:
rosservice._rosservice_cmd_list([cmd, 'list', s, '-n'])
self.assertEquals('/add_two_ints /a2iserver', b.getvalue().strip())
with fakestdout() as b:
rosservice._rosservice_cmd_list([cmd, 'list', s, '--nodes'])
self.assertEquals('/add_two_ints /a2iserver', b.getvalue().strip())
# test with namespaces
s = '/foo'
rosservice._rosservice_cmd_list([cmd, 'list', s])
rosservice._rosservice_cmd_list([cmd, 'list', s, '-n'])
rosservice._rosservice_cmd_list([cmd, 'list', s, '--nodes'])
s = 'foo'
rosservice._rosservice_cmd_list([cmd, 'list', s])
rosservice._rosservice_cmd_list([cmd, 'list', s, '-n'])
rosservice._rosservice_cmd_list([cmd, 'list', s, '--nodes'])
def test_cmd_list(self):
import rosservice
cmd = 'rosservice'
s = '/add_two_ints'
# test main entry
rosservice.rosservicemain([cmd, 'list'])
# test directly
services = ['/add_two_ints',
'/foo/add_two_ints',
'/bar/add_two_ints',
'/header_echo',
]
services_nodes = ['/add_two_ints /a2iserver',
'/foo/add_two_ints /foo/a2iserver',
'/bar/add_two_ints /bar/a2iserver',
'/header_echo /headerserver',
]
with fakestdout() as b:
rosservice._rosservice_cmd_list([cmd, 'list'])
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
v = [x for x in v if not x.startswith('/rosout/')]
self.assertEquals(set(services), set(v))
with fakestdout() as b:
rosservice._rosservice_cmd_list([cmd, 'list', '-n'])
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
v = [x for x in v if not x.startswith('/rosout/')]
self.assertEquals(set(services_nodes), set(v))
with fakestdout() as b:
rosservice._rosservice_cmd_list([cmd, 'list', '--nodes'])
v = [x.strip() for x in b.getvalue().split('\n') if x.strip()]
v = [x for x in v if not x.startswith('/rosout/')]
self.assertEquals(set(services_nodes), set(v))
# test with multiple service names
try:
rosservice._rosservice_cmd_list([cmd, 'list', s, s])
self.fail("should have caused parser error")
except SystemExit:
pass
# test with resolved service names
for s in services:
with fakestdout() as b:
rosservice._rosservice_cmd_list([cmd, 'list', s])
self.assertEquals(s, b.getvalue().strip())
# test with relative service names
s = 'add_two_ints'
with fakestdout() as b:
rosservice._rosservice_cmd_list([cmd, 'list', s])
self.assertEquals('/add_two_ints', b.getvalue().strip())
with fakestdout() as b:
rosservice._rosservice_cmd_list([cmd, 'list', s, '-n'])
self.assertEquals('/add_two_ints /a2iserver', b.getvalue().strip())
with fakestdout() as b:
rosservice._rosservice_cmd_list([cmd, 'list', s, '--nodes'])
self.assertEquals('/add_two_ints /a2iserver', b.getvalue().strip())
# test with namespaces
s = '/foo'
rosservice._rosservice_cmd_list([cmd, 'list', s])
rosservice._rosservice_cmd_list([cmd, 'list', s, '-n'])
rosservice._rosservice_cmd_list([cmd, 'list', s, '--nodes'])
s = 'foo'
rosservice._rosservice_cmd_list([cmd, 'list', s])
rosservice._rosservice_cmd_list([cmd, 'list', s, '-n'])
rosservice._rosservice_cmd_list([cmd, 'list', s, '--nodes'])