def test_good_request_light_control_ros_wait_for_service_failure(self):
"""
This method performs a good request while ROS is unavailable.
"""
oldwfs = rospy.wait_for_service
rospy.wait_for_service = lambda x, y: (_ for _ in ()).throw(rospy.ROSException)
hdr = {UserAuthentication.HTTP_HEADER_USER_NAME: "default-owner"}
ddict = {
"name": "notreallyimportant",
"diffuse": {
"r": "0",
"g": "0",
"b": "0",
"a": "0"
},
"attenuation_constant": "0",
"attenuation_linear": "0",
"attenuation_quadratic": "0"
}
with app.test_request_context(headers=hdr, data=json.dumps(ddict)):
self.assertRaises(NRPServicesUnavailableROSService, self.lc.put, 0)
try:
self.lc.put(0)
except NRPServicesUnavailableROSService as e:
self.assertEquals(e.error_code, 500)
rospy.wait_for_service = oldwfs
def test_good_request_light_control_ros_service_proxy_failure(self):
"""
This method performs a good request with a ROS failure in the service proxy
"""
oldsp = rospy.ServiceProxy
rospy.ServiceProxy = mock.Mock(return_value=lambda light_name='', diffuse='',
attenuation_constant='', attenuation_linear='', attenuation_quadratic='':
(_ for _ in ()).throw(rospy.ServiceException))
hdr = {UserAuthentication.HTTP_HEADER_USER_NAME: "default-owner"}
ddict = {
"name": "notreallyimportant",
"diffuse": {
"r": "0",
"g": "0",
"b": "0",
"a": "0"
},
"attenuation_constant": "0",
"attenuation_linear": "0",
"attenuation_quadratic": "0"
}
with app.test_request_context(headers=hdr, data=json.dumps(ddict)):
self.assertRaises(NRPServicesClientErrorException, self.lc.put, 0)
try:
self.lc.put(0)
except NRPServicesClientErrorException as e:
self.assertEquals(e.error_code, 400)
rospy.ServiceProxy = oldsp
def test_material_control_no_visual_path(self):
"""
This methods crafts a request from the owner of the simulation but missing the
'visual_path'.
"""
hdr = {UserAuthentication.HTTP_HEADER_USER_NAME: "default-owner"}
ddict = {'material': 'Gazebo/Blue'}
with app.test_request_context(headers=hdr, data=json.dumps(ddict)):
self.assertEqual(self.mc.put(0)[1], 400)
def test_light_control_only_name(self):
"""
This method crafts a request from the owner of the simulation with only the 'name'
parameter.
"""
hdr = {UserAuthentication.HTTP_HEADER_USER_NAME: "default-owner"}
ddict = {"name": "notreallyimportant"}
with app.test_request_context(headers=hdr, data=json.dumps(ddict)):
self.assertRaises(Exception, self.lc.put, 0)
def test_material_control_wrong_user(self):
"""
This method crafts a request from an user which is not the owner of the simulation.
"""
hdr = {UserAuthentication.HTTP_HEADER_USER_NAME: "wrong-owner"}
with app.test_request_context(headers=hdr):
self.assertRaises(NRPServicesClientErrorException, self.mc.put, 0)
try:
self.mc.put(0)
except NRPServicesClientErrorException as e:
self.assertEquals(e.error_code, 401)
def test_material_control_good_request(self):
"""
This method crafts some successful requests.
"""
hdr = {UserAuthentication.HTTP_HEADER_USER_NAME: "default-owner"}
ddict = {
'visual_path': 'sensible_model::actual_link::existing_visual',
'material': 'known_material'
}
with app.test_request_context(headers=hdr, data=json.dumps(ddict)):
self.assertEquals(self.mc.put(0)[1], 200)
def test_light_control_no_params(self):
"""
This method crafts a request from the owner of the simulation missing the other parameters.
"""
hdr = {UserAuthentication.HTTP_HEADER_USER_NAME: "default-owner"}
ddict = {}
with app.test_request_context(headers=hdr, data=json.dumps(ddict)):
self.assertRaises(NRPServicesClientErrorException, self.lc.put, 0)
try:
self.lc.put(0)
except NRPServicesClientErrorException as e:
self.assertEquals(e.error_code, 400)
def test_material_control_invalid_visual_path(self):
"""
This method crafts a request from the owner of the simulation with an invalid
'visual_path' parameter.
"""
hdr = {UserAuthentication.HTTP_HEADER_USER_NAME: "default-owner"}
ddict = {'visual_path': 'randomstring::randomstring', 'material': 'Gazebo/Red'}
with app.test_request_context(headers=hdr, data=json.dumps(ddict)):
try:
self.mc.put(0)
except NRPServicesClientErrorException as e:
self.assertEquals(e.error_code, 404)
def test_light_control_no_diffuse(self):
"""
This method crafts a request from the owner of the simulation missing only the
'diffuse' parameter.
"""
hdr = {UserAuthentication.HTTP_HEADER_USER_NAME: "default-owner"}
ddict = {
"name": "notreallyimportant",
"attenuation_constant": "0",
"attenuation_linear": "0",
"attenuation_quadratic": "0"
}
with app.test_request_context(headers=hdr, data=json.dumps(ddict)):
self.assertRaises(Exception, self.lc.put, 0)
def test_material_control_ros_wait_for_service_failure(self):
"""
This method performs a good request while ROS is unavailable.
"""
oldwfs = rospy.wait_for_service
rospy.wait_for_service = lambda x, y: (_ for _ in ()).throw(rospy.ROSException)
hdr = {UserAuthentication.HTTP_HEADER_USER_NAME: "default-owner"}
ddict = {'visual_path': 'model::link::visual', 'material': 'Gazebo/Red'}
with app.test_request_context(headers=hdr, data=json.dumps(ddict)):
self.assertRaises(NRPServicesUnavailableROSService, self.mc.put, 0)
try:
self.mc.put(0)
except NRPServicesUnavailableROSService as e:
self.assertEquals(e.error_code, 500)
rospy.wait_for_service = oldwfs
def test_material_control_ros_wait_service_proxy_failure(self):
"""
This method performs a good request with a ROS failure in the service proxy.
"""
oldsp = rospy.ServiceProxy
rospy.ServiceProxy = mock.Mock(return_value=lambda model_name='', link_name='',
visual_name='', property_name='', property_value='': (_ for _ in ()).throw(rospy.ServiceException))
hdr = {UserAuthentication.HTTP_HEADER_USER_NAME: "default-owner"}
ddict = {"visual_path": "model::link::visual", 'material': 'Gazebo/Red'}
with app.test_request_context(headers=hdr, data=json.dumps(ddict)):
self.assertRaises(NRPServicesGeneralException, self.mc.put, 0)
try:
self.mc.put(0)
except NRPServicesGeneralException as e:
self.assertEquals(e.error_code, 500)
rospy.ServiceProxy = oldsp
def test_light_control_good_request(self):
"""
This method crafts a successful request.
"""
hdr = {UserAuthentication.HTTP_HEADER_USER_NAME: "default-owner"}
ddict = {
"name": "notreallyimportant",
"diffuse": {
"r": "0",
"g": "0",
"b": "0",
"a": "0"
},
"attenuation_constant": "0",
"attenuation_linear": "0",
"attenuation_quadratic": "0"
}
with app.test_request_context(headers=hdr, data=json.dumps(ddict)):
self.assertEqual(self.lc.put(0)[1], 200)
