def get_interactions(interactions_namespace, platform_rocon_uri):
if interactions_namespace is None:
return rocon_interactions.InteractionsTable()
get_interactions = rospy.ServiceProxy(interactions_namespace + "get_interactions", interaction_srvs.GetInteractions)
request = interaction_srvs.GetInteractionsRequest(groups=[], uri=platform_rocon_uri)
response = get_interactions(request)
interactions_table = rocon_interactions.InteractionsTable()
interactions_table.load(response.interactions)
return interactions_table
def test_loader(self):
""" Loading... """
try:
rospy.wait_for_service('~get_interactions', 3.0)
except (rospy.ROSException, rospy.ServiceException) as e:
self.fail("Failed to find %s" % rospy.resolve_name('~get_interactions'))
get_pairings = rospy.ServiceProxy('~get_pairings', interaction_srvs.GetPairings)
get_interactions = rospy.ServiceProxy('~get_interactions', interaction_srvs.GetInteractions)
pairings_request = interaction_srvs.GetPairingsRequest()
interactions_request = interaction_srvs.GetInteractionsRequest(groups=[], uri=rocon_uri.default_uri_string)
interactions_table = None
timeout_time = time.time() + 5.0
while not rospy.is_shutdown() and time.time() < timeout_time:
pairings_response = get_pairings(pairings_request)
interactions_response = get_interactions(interactions_request)
if interactions_response.interactions and pairings_response.pairings:
pairings_table = rocon_interactions.PairingsTable()
interactions_table = rocon_interactions.InteractionsTable()
pairings_table.load(pairings_response.pairings)
interactions_table.load(interactions_response.interactions)
#print("Length: %s" % len(interactions_table))
if len(interactions_table) == 2 and len(pairings_table) == 2:
break
else:
rospy.rostime.wallsleep(0.1)
print("\n%s" % interactions_table)
print("\n%s" % pairings_table)
groups = interactions_table.groups()
self.assertEqual(groups, ['Pairing'], 'groups of the interaction table did not return as expected [%s][%s]' % (groups, ['Rqt', 'PyQt']))
self.assertEqual(len(interactions_table), 2, 'number of interactions incorrect [%s][%s]' % (len(interactions_table), 2))
self.assertEqual(len(pairings_table), 2, 'number of pairings incorrect [%s][%s]' % (len(pairings_table), 2))
def test_web_apps():
print(
console.bold +
"\n****************************************************************************************"
+ console.reset)
print(console.bold + "* Web App Interactions" + console.reset)
print(
console.bold +
"****************************************************************************************"
+ console.reset)
print("")
interactions_table = rocon_interactions.InteractionsTable()
msg_interactions = load_interactions('rocon_interactions/web_apps')
assert msg_interactions is not None, 'malformed yaml [rocon_interactions/web_apps]'
interactions_table.load(msg_interactions)
print("%s" % interactions_table)
assert 'Web Apps' in interactions_table.roles()
def test_qt_apps():
print(
console.bold +
"\n****************************************************************************************"
+ console.reset)
print(console.bold + "* Direct, RosRun and Launchable Interactions" +
console.reset)
print(
console.bold +
"****************************************************************************************"
+ console.reset)
print("")
interactions_table = rocon_interactions.InteractionsTable()
raised_exception = False
msg_interactions = load_interactions('rocon_interactions/pc')
assert msg_interactions is not None, 'malformed yaml [rocon_interactions/pc]'
msg_interactions = assign_namespace('/pc', msg_interactions)
interactions_table.load(msg_interactions)
print("%s" % interactions_table)
assert 'PC' in interactions_table.roles()
def test_removal():
print(
console.bold +
"\n****************************************************************************************"
+ console.reset)
print(console.bold + "* Removal" + console.reset)
print(
console.bold +
"****************************************************************************************"
+ console.reset)
print("")
interactions_table = rocon_interactions.InteractionsTable()
msg_interactions = load_interactions('rocon_interactions/android')
assert msg_interactions is not None, 'malformed yaml [rocon_interactions/android]'
msg_interactions = assign_namespace('/android', msg_interactions)
interactions_table.load(msg_interactions)
print("%s" % interactions_table)
interactions_table.unload(msg_interactions)
print("%s" % interactions_table)
assert len(
interactions_table) == 0, "did not entirely remove all interactions"
def test_loader(self):
""" Loading... """
try:
rospy.wait_for_service('~get_interactions', 3.0)
except (rospy.ROSException, rospy.ServiceException) as e:
self.fail("Failed to find %s" % rospy.resolve_name('~get_interactions'))
get_interactions = rospy.ServiceProxy('~get_interactions', interaction_srvs.GetInteractions)
request = interaction_srvs.GetInteractionsRequest(roles=[], uri=rocon_uri.default_uri_string)
interactions_table = None
timeout_time = time.time() + 5.0
while not rospy.is_shutdown() and time.time() < timeout_time:
response = get_interactions(request)
if response.interactions:
interactions_table = rocon_interactions.InteractionsTable()
interactions_table.load(response.interactions)
#print("Length: %s" % len(interactions_table))
if len(interactions_table) == 3:
break
else:
rospy.rostime.wallsleep(0.1)
print("%s" % interactions_table)
roles = interactions_table.roles()
self.assertEqual(roles, ['PC'], 'roles of the interaction table did not return as expected [%s][%s]' % (roles, ['Rqt', 'PyQt']))
self.assertEqual(len(interactions_table), 3, 'number of interactions incorrect [%s][%s]' % (len(interactions_table), 3))