def test_do_advertise(self):
proto = Protocol("hello")
adv = Advertise(proto)
topic = "/test_do_advertise"
type = "std_msgs/String"
msg = {"op": "advertise", "topic": topic, "type": type}
adv.advertise(loads(dumps(msg)))
self.assertTrue(self.is_topic_published(topic))
adv.unadvertise(loads(dumps(msg)))
self.assertFalse(self.is_topic_published(topic))
def test_valid_msg_classes(self):
assortedmsgs = ["geometry_msgs/Pose", "actionlib_msgs/GoalStatus",
"geometry_msgs/WrenchStamped", "stereo_msgs/DisparityImage",
"nav_msgs/OccupancyGrid", "geometry_msgs/Point32", "std_msgs/String",
"trajectory_msgs/JointTrajectoryPoint", "diagnostic_msgs/KeyValue",
"visualization_msgs/InteractiveMarkerUpdate", "nav_msgs/GridCells",
"sensor_msgs/PointCloud2"]
proto = Protocol("hello")
adv = Advertise(proto)
for valid_type in assortedmsgs:
msg = {"op": "advertise", "topic": "/" + valid_type,
"type": valid_type}
adv.advertise(loads(dumps(msg)))
adv.unadvertise(loads(dumps(msg)))
def test_invalid_arguments(self):
proto = Protocol("hello")
adv = Advertise(proto)
msg = {"op": "advertise", "topic": 3, "type": "std_msgs/String"}
self.assertRaises(InvalidArgumentException, adv.advertise,
loads(dumps(msg)))
msg = {"op": "advertise", "topic": "/jon", "type": 3}
self.assertRaises(InvalidArgumentException, adv.advertise,
loads(dumps(msg)))
def test_do_advertise(self):
proto = Protocol("hello")
adv = Advertise(proto)
topic = "/test_do_advertise"
type = "std_msgs/String"
msg = {"op": "advertise", "topic": topic, "type": type}
adv.advertise(loads(dumps(msg)))
self.assertTrue(self.is_topic_published(topic))
adv.unadvertise(loads(dumps(msg)))
self.assertFalse(self.is_topic_published(topic))
def test_invalid_msg_module(self):
no_msgs = [
"roslib/Time", "roslib/Duration", "roslib/Header",
"std_srvs/ConflictedMsg", "topic_tools/MessageMessage"
]
proto = Protocol("hello")
adv = Advertise(proto)
for invalid_type in no_msgs:
msg = {
"op": "advertise",
"topic": "/test_invalid_msg_module",
"type": invalid_type
}
self.assertRaises(ros_loader.InvalidModuleException, adv.advertise,
loads(dumps(msg)))
def test_invalid_msg_package(self):
nonexistent = [
"wangle_msgs/Jam", "whistleblower_msgs/Document",
"sexual_harrassment_msgs/UnwantedAdvance", "coercion_msgs/Bribe",
"airconditioning_msgs/Cold", "pr2thoughts_msgs/Escape"
]
proto = Protocol("hello")
adv = Advertise(proto)
for invalid_type in nonexistent:
msg = {
"op": "advertise",
"topic": "/test_invalid_msg_package",
"type": invalid_type
}
self.assertRaises(ros_loader.InvalidPackageException,
adv.advertise, loads(dumps(msg)))
def test_invalid_msg_classes(self):
nonexistent = [
"roscpp/Time", "roscpp/Duration", "roscpp/Header", "rospy/Time",
"rospy/Duration", "rospy/Header", "std_msgs/Spool",
"geometry_msgs/Tetrahedron", "sensor_msgs/TelepathyUnit"
]
proto = Protocol("hello")
adv = Advertise(proto)
for invalid_type in nonexistent:
msg = {
"op": "advertise",
"topic": "/test_invalid_msg_classes",
"type": invalid_type
}
self.assertRaises(ros_loader.InvalidClassException, adv.advertise,
loads(dumps(msg)))
def test_invalid_msg_typestrings(self):
invalid = [
"", "/", "//", "///", "////", "/////", "bad", "stillbad",
"not/better/still", "not//better//still", "not///better///still",
"better/", "better//", "better///", "/better", "//better",
"///better", "this\isbad", "\\"
]
proto = Protocol("hello")
adv = Advertise(proto)
for invalid_type in invalid:
msg = {
"op": "advertise",
"topic": "/test_invalid_msg_typestrings",
"type": invalid_type
}
self.assertRaises(ros_loader.InvalidTypeStringException,
adv.advertise, loads(dumps(msg)))
def test_valid_msg_classes(self):
assortedmsgs = [
"geometry_msgs/Pose", "actionlib_msgs/GoalStatus",
"geometry_msgs/WrenchStamped", "stereo_msgs/DisparityImage",
"nav_msgs/OccupancyGrid", "geometry_msgs/Point32",
"std_msgs/String", "trajectory_msgs/JointTrajectoryPoint",
"diagnostic_msgs/KeyValue",
"visualization_msgs/InteractiveMarkerUpdate", "nav_msgs/GridCells",
"sensor_msgs/PointCloud2"
]
proto = Protocol("hello")
adv = Advertise(proto)
for valid_type in assortedmsgs:
msg = {
"op": "advertise",
"topic": "/" + valid_type,
"type": valid_type
}
adv.advertise(loads(dumps(msg)))
adv.unadvertise(loads(dumps(msg)))
