def test_ChildRoslaunchProcess(self):
# test that constructor is wired up correctly
from roslaunch.server import ChildROSLaunchProcess
name = 'foo-%s'%time.time()
args = [time.time(), time.time()]
env = { 'key-%s'%time.time() : str(time.time()) }
cp = ChildROSLaunchProcess(name, args, env)
self.assertEquals(name, cp.name)
self.assertEquals(args, cp.args)
self.assertEquals(env, cp.env)
self.assertEquals(None, cp.uri)
uri = 'http://foo:1234'
cp.set_uri(uri)
self.assertEquals(uri, cp.uri)
def test_ChildRoslaunchProcess(self):
# test that constructor is wired up correctly
from roslaunch.server import ChildROSLaunchProcess
name = 'foo-%s' % time.time()
args = [time.time(), time.time()]
env = {'key-%s' % time.time(): str(time.time())}
cp = ChildROSLaunchProcess(name, args, env)
self.assertEquals(name, cp.name)
self.assertEquals(args, cp.args)
self.assertEquals(env, cp.env)
self.assertEquals(None, cp.uri)
uri = 'http://foo:1234'
cp.set_uri(uri)
self.assertEquals(uri, cp.uri)
def test_ROSLaunchChildNode(self):
from roslaunch.server import ROSLaunchChildNode
from roslaunch.server import ChildROSLaunchProcess
pmon = self.pmon
import roslib.params
try:
# if there is a core up, we have to use its run id
run_id = roslib.params.get_param('/run_id')
except:
run_id = 'foo-%s' % time.time()
name = 'foo-bob'
server_uri = 'http://localhost:12345'
try:
ROSLaunchChildNode(run_id, name, server_uri, None)
self.fail("should not allow pm as None")
except:
pass
try:
ROSLaunchChildNode(run_id, name, 'http://bad_uri:0', pmon)
self.fail("should not allow bad uri")
except:
pass
n = ROSLaunchChildNode(run_id, name, server_uri, pmon)
self.assertEquals(run_id, n.run_id)
self.assertEquals(name, n.name)
self.assertEquals(server_uri, n.server_uri)
# tests for actual registration with server
import roslaunch.config
server = roslaunch.server.ROSLaunchParentNode(
roslaunch.config.ROSLaunchConfig(), self.pmon)
# - register a fake child with the server so that it accepts registration from ROSLaunchChild
child_proc = ChildROSLaunchProcess('foo', [], {})
server.add_child(name, child_proc)
try:
server.start()
self.assert_(server.uri, "server URI did not initialize")
s = ServerProxy(server.uri)
print "SERVER STARTED"
# start the child
n = ROSLaunchChildNode(run_id, name, server.uri, pmon)
n.start()
print "CHILD STARTED"
self.assert_(n.uri, "child URI did not initialize")
# verify registration
print "VERIFYING REGISTRATION"
self.assertEquals(child_proc.uri, n.uri)
child_uri = 'http://fake-unroutable:1324'
# - list children
val = self._succeed(s.list_children())
self.assertEquals([n.uri], val)
finally:
print "SHUTTING DOWN"
n.shutdown('test done')
server.shutdown('test done')
def test_ROSLaunchParentNode(self):
from roslaunch.server import ROSLaunchParentNode
from roslaunch.server import ChildROSLaunchProcess
from roslaunch.config import ROSLaunchConfig
from roslaunch.pmon import ProcessListener
rosconfig = ROSLaunchConfig()
try:
ROSLaunchParentNode(rosconfig, None)
self.fail("should not allow pm as None")
except:
pass
pmon = self.pmon
n = ROSLaunchParentNode(rosconfig, pmon)
self.assertEquals(rosconfig, n.rosconfig)
self.assertEquals([], n.listeners)
self.assertEquals({}, n.child_processes)
self.assertEquals(n.handler.listeners, n.listeners)
self.assertEquals(n.handler.child_processes, n.child_processes)
# test add listener
self.assertEquals(n.handler.listeners, n.listeners)
l = ProcessListener()
n.add_process_listener(l)
self.assertEquals([l], n.listeners)
self.assertEquals(n.handler.listeners, n.listeners)
# now, lets make some xmlrpc calls against it
import roslaunch.config
server = roslaunch.server.ROSLaunchParentNode(
roslaunch.config.ROSLaunchConfig(), self.pmon)
# it's really dangerous for logging when both a parent and a
# child are in the same process, so out of paranoia, clear the
# logging handlers
roslaunch.core.clear_printlog_handlers()
roslaunch.core.clear_printerrlog_handlers()
# - register a fake child with the server so that it accepts registration from ROSLaunchChild
child_name = 'child-%s' % time.time()
child_proc = ChildROSLaunchProcess('foo', [], {})
server.add_child(child_name, child_proc)
try:
server.start()
self.assert_(server.uri, "server URI did not initialize")
s = ServerProxy(server.uri)
child_uri = 'http://fake-unroutable:1324'
# - list children should be empty
val = self._succeed(s.list_children())
self.assertEquals([], val)
# - register
val = self._succeed(s.register(child_name, child_uri))
self.assertEquals(1, val)
# - list children
val = self._succeed(s.list_children())
self.assertEquals([child_uri], val)
finally:
server.shutdown('test done')
def test_ROSLaunchParentHandler(self):
from roslaunch.server import ROSLaunchParentHandler
from roslaunch.server import ChildROSLaunchProcess
try:
ROSLaunchParentHandler(None, {}, [])
self.fail("should not allow pm as None")
except:
pass
pmon = self.pmon
child_processes = {}
listeners = []
h = ROSLaunchParentHandler(pmon, child_processes, listeners)
self.assertEquals(child_processes, h.child_processes)
self.assertEquals(listeners, h.listeners)
self._test_ROSLaunchBaseHandler(h)
from rosgraph_msgs.msg import Log
h.log('client-1', Log.FATAL, "message")
h.log('client-1', Log.ERROR, "message")
h.log('client-1', Log.DEBUG, "message")
h.log('client-1', Log.INFO, "started with pid 1234")
# test process_died
# - no listeners
self._succeed(h.process_died('dead1', -1))
# - well-behaved listener
l = roslaunch.pmon.ProcessListener()
listeners.append(l)
self._succeed(h.process_died('dead2', -1))
# - bad listener with exception
def bad():
raise Exception("haha")
l.process_died = bad
self._succeed(h.process_died('dead3', -1))
# test register
# - verify clean slate with list_children
self.assertEquals([], self._succeed(h.list_children()))
# - first register with unknown
code, msg, val = h.register('client-unknown', 'http://unroutable:1234')
self.assertEquals(-1, code)
self.assertEquals([], self._succeed(h.list_children()))
# - now register with known
uri = 'http://unroutable:1324'
child_processes['client-1'] = ChildROSLaunchProcess('foo', [], {})
val = self._succeed(h.register('client-1', uri))
self.assert_(type(val) == int)
self.assertEquals([uri], self._succeed(h.list_children()))