def test_no_default_provider(self):
no_default_provider = os.path.join(TEST_DIR, 'rostest', 'test_server',
'no_default_provider')
ros_package_path = [no_default_provider]
rospy.set_param('~missing_default_provider_is_an_error', False)
capability_server = server.CapabilityServer(ros_package_path)
capability_server._CapabilityServer__load_capabilities()
capability_server._CapabilityServer__populate_default_providers()
def test_no_default_provider_pedantic(self):
no_default_provider = os.path.join(TEST_DIR, 'rostest', 'test_server',
'no_default_provider')
ros_package_path = [no_default_provider]
rospy.set_param('~missing_default_provider_is_an_error', True)
capability_server = server.CapabilityServer(ros_package_path)
capability_server._CapabilityServer__load_capabilities()
with assert_raises(SystemExit):
capability_server._CapabilityServer__populate_default_providers()
def test_invalid_default_provider(self):
minimal_dir = os.path.join(TEST_DIR, 'unit', 'discovery_workspaces',
'minimal')
ros_package_path = [minimal_dir]
rospy.set_param('~defaults/minimal_pkg/Minimal',
'minimal_pkg/not_a_valid_provider')
capability_server = server.CapabilityServer(ros_package_path)
capability_server._CapabilityServer__load_capabilities()
with assert_raises(SystemExit):
capability_server._CapabilityServer__populate_default_providers()
def test_invalid_specs(self):
invalid_specs_dir = os.path.join(TEST_DIR, 'unit',
'discovery_workspaces',
'invalid_specs')
ros_package_path = [invalid_specs_dir]
capability_server = server.CapabilityServer(ros_package_path)
capability_server._CapabilityServer__load_capabilities()
capability_server._CapabilityServer__populate_default_providers()
capability_server._CapabilityServer__stop_capability(
'not_a_running_capability')
def test_wrong_default_provider(self):
dc_dir = os.path.join(TEST_DIR, 'unit', 'discovery_workspaces',
'dependent_capabilities')
ros_package_path = [dc_dir]
rospy.set_param(
'~defaults/navigation_capability/Navigation',
'differential_mobile_base_capability/faux_differential_mobile_base'
)
capability_server = server.CapabilityServer(ros_package_path)
capability_server._CapabilityServer__load_capabilities()
with assert_raises(SystemExit):
capability_server._CapabilityServer__populate_default_providers()
def test_event_handler(self):
invalid_specs_dir = os.path.join(TEST_DIR, 'unit',
'discovery_workspaces',
'invalid_specs')
ros_package_path = [invalid_specs_dir]
capability_server = server.CapabilityServer(ros_package_path)
capability_server._CapabilityServer__load_capabilities()
capability_server._CapabilityServer__populate_default_providers()
rospy.Subscriber('~events', CapabilityEvent,
capability_server.handle_capability_events)
pub = rospy.Publisher("~events", CapabilityEvent)
rospy.sleep(1)
msg = CapabilityEvent()
msg.capability = 'some_pkg/NotACapability'
msg.provider = 'doesnt matter'
msg.type = 'doesnt matter'
pub.publish(msg)
rospy.sleep(1) # Allow time for the publish to happen