def test_use_and_free_capability(self):
assert wait_for_capability_server(10)
c = CapabilitiesClient()
c.wait_for_services(timeout=3.0)
# Give invalid bond id to use_capability
with assert_raises(ServiceException):
call_service('/capability_server/use_capability',
'minimal_pkg/Minimal', '', 'invalid_bond_id')
# Try to use a non-existent cap
with assert_raises(ServiceException):
c.use_capability('not_a_pkg/NotACap')
# Use cap and wait for it to be running
c.use_capability('minimal_pkg/Minimal', 'minimal_pkg/minimal')
expected = ['minimal_pkg/Minimal']
result = wait_for_result_to_happen(expected, [])
assert sorted(result) == sorted(expected), (sorted(result),
sorted(expected))
# Try to use it with a different provider
with assert_raises(ServiceException):
c.use_capability('minimal_pkg/Minimal',
'minimal_pkg/specific_minimal')
# Use it a second time, free it once, assert it is stil there
c.use_capability('minimal_pkg/Minimal')
c.free_capability('minimal_pkg/Minimal')
expected = []
result = wait_for_result_to_happen(expected, ['minimal_pkg/Minimal'],
tries=5)
assert sorted(result) != sorted(expected), (sorted(result),
sorted(expected))
# Directly call ~free_capability with an invalid bond_id
with assert_raises(ServiceException):
call_service('/capability_server/free_capability',
'minimal_pkg/Minimal', 'invalid_bond_id')
# Free it again and assert it goes down
c.free_capability('minimal_pkg/Minimal')
expected = []
result = wait_for_result_to_happen(expected, ['minimal_pkg/Minimal'])
assert sorted(result) == sorted(expected), (sorted(result),
sorted(expected))
# Try to over free it and get an exception
with assert_raises(ServiceException):
c.free_capability('minimal_pkg/Minimal')
# Use it again, then break the bond and assert it goes down because of that
c.use_capability('minimal_pkg/Minimal')
expected = ['minimal_pkg/Minimal']
result = wait_for_result_to_happen(expected, [])
assert sorted(result) == sorted(expected), (sorted(result),
sorted(expected))
c._bond.break_bond()
expected = []
result = wait_for_result_to_happen(expected, ['minimal_pkg/Minimal'])
assert sorted(result) == sorted(expected), (sorted(result),
sorted(expected))
def test_default_provider(self):
assert wait_for_capability_server(10)
call_service('/capability_server/start_capability', 'no_default_provider_pkg/Minimal', '')
rospy.sleep(1) # Wait for the system to settle
resp = call_service('/capability_server/get_running_capabilities')
result = [x.capability.provider for x in resp.running_capabilities]
retry_count = 0
while not result:
retry_count += 1
if retry_count == 10:
break
# Retry, sometimes the system is really slow...
rospy.sleep(1)
resp = call_service('/capability_server/get_running_capabilities')
result = [x.capability.provider for x in resp.running_capabilities]
expected = ['no_default_provider_pkg/minimal']
assert sorted(result) == sorted(expected), (sorted(result), sorted(expected))
def wait_for_result_to_happen(expected, initial_result, tries=10, sleep_period=1):
result = initial_result
count = 0
while count != tries and sorted(result) != sorted(expected):
rospy.sleep(sleep_period)
count += 1
resp = call_service('/capability_server/get_running_capabilities')
result = [x.capability.capability for x in resp.running_capabilities]
return result
def test_use_and_free_capability(self):
assert wait_for_capability_server(10)
c = CapabilitiesClient()
c.wait_for_services(timeout=3.0)
# Give invalid bond id to use_capability
with assert_raises(ServiceException):
call_service('/capability_server/use_capability', 'minimal_pkg/Minimal', '', 'invalid_bond_id')
# Try to use a non-existent cap
with assert_raises(ServiceException):
c.use_capability('not_a_pkg/NotACap')
# Use cap and wait for it to be running
c.use_capability('minimal_pkg/Minimal', 'minimal_pkg/minimal')
expected = ['minimal_pkg/Minimal']
result = wait_for_result_to_happen(expected, [])
assert sorted(result) == sorted(expected), (sorted(result), sorted(expected))
# Try to use it with a different provider
with assert_raises(ServiceException):
c.use_capability('minimal_pkg/Minimal', 'minimal_pkg/specific_minimal')
# Use it a second time, free it once, assert it is stil there
c.use_capability('minimal_pkg/Minimal')
c.free_capability('minimal_pkg/Minimal')
expected = []
result = wait_for_result_to_happen(expected, ['minimal_pkg/Minimal'], tries=5)
assert sorted(result) != sorted(expected), (sorted(result), sorted(expected))
# Directly call ~free_capability with an invalid bond_id
with assert_raises(ServiceException):
call_service('/capability_server/free_capability', 'minimal_pkg/Minimal', 'invalid_bond_id')
# Free it again and assert it goes down
c.free_capability('minimal_pkg/Minimal')
expected = []
result = wait_for_result_to_happen(expected, ['minimal_pkg/Minimal'])
assert sorted(result) == sorted(expected), (sorted(result), sorted(expected))
# Try to over free it and get an exception
with assert_raises(CapabilityNotRunningException):
c.free_capability('minimal_pkg/Minimal')
# Use it again, then break the bond and assert it goes down because of that
c.use_capability('minimal_pkg/Minimal')
expected = ['minimal_pkg/Minimal']
result = wait_for_result_to_happen(expected, [])
assert sorted(result) == sorted(expected), (sorted(result), sorted(expected))
c._bond.break_bond()
expected = []
result = wait_for_result_to_happen(expected, ['minimal_pkg/Minimal'])
assert sorted(result) == sorted(expected), (sorted(result), sorted(expected))
def test_default_provider(self):
wait_for_capability_server(None)
call_service('/capability_server/start_capability',
'no_default_provider_pkg/Minimal', '')
rospy.sleep(1) # Wait for the system to settle
resp = call_service('/capability_server/get_running_capabilities')
result = [x.capability.provider for x in resp.running_capabilities]
retry_count = 0
while not result:
retry_count += 1
if retry_count == 10:
break
# Retry, sometimes the system is really slow...
rospy.sleep(1)
resp = call_service('/capability_server/get_running_capabilities')
result = [x.capability.provider for x in resp.running_capabilities]
expected = ['no_default_provider_pkg/minimal']
assert sorted(result) == sorted(expected), (sorted(result),
sorted(expected))
def wait_for_result_to_happen(expected,
initial_result,
tries=10,
sleep_period=1):
result = initial_result
count = 0
while count != tries and sorted(result) != sorted(expected):
rospy.sleep(sleep_period)
count += 1
resp = call_service('/capability_server/get_running_capabilities')
result = [x.capability.capability for x in resp.running_capabilities]
return result
def test_remapping(self):
with assert_raises(ServiceException):
call_service('/capability_server/get_remappings', 'robot_base_pkg/FrontDistance')
call_service('/capability_server/start_capability', 'robot_base_pkg/FrontDistance', '')
resp = call_service('/capability_server/get_remappings', 'robot_base_pkg/FrontDistance')
assert len(resp.topics) == 1, resp
assert ('front/distance', 'robot/front/distance') in [(t.key, t.value) for t in resp.topics], resp
resp = call_service('/capability_server/get_remappings', 'robot_base_pkg/front_distance')
assert resp.topics, resp
assert ('front/distance', 'robot/front/distance') in [(t.key, t.value) for t in resp.topics], resp
resp = call_service('/capability_server/get_remappings', 'robot_base_pkg/Distance')
assert resp.topics, resp
assert ('distance', 'robot/front/distance') in [(t.key, t.value) for t in resp.topics], resp
def test_stop_base_capability(self):
"""
Stopping a base capability should stop all dependent capabilities too.
"""
call_service('/capability_server/start_capability',
'navigation_capability/Navigation',
'navigation_capability/faux_navigation')
rospy.sleep(6) # Wait for the system to settle
resp = call_service('/capability_server/get_running_capabilities')
result = [x.capability.capability for x in resp.running_capabilities]
expected = ['navigation_capability/Navigation',
'differential_mobile_base_capability/DifferentialMobileBase']
self.assertEqual(sorted(result), sorted(expected))
call_service('/capability_server/stop_capability',
'differential_mobile_base_capability/DifferentialMobileBase')
resp = call_service('/capability_server/get_running_capabilities')
# The list of running capabilities should be empty
self.assertEqual([], resp.running_capabilities)
def test_stop_base_capability(self):
"""
Stopping a base capability should stop all dependent capabilities too.
"""
call_service('/capability_server/start_capability',
'navigation_capability/Navigation',
'navigation_capability/faux_navigation')
rospy.sleep(6) # Wait for the system to settle
resp = call_service('/capability_server/get_running_capabilities')
result = [x.capability.capability for x in resp.running_capabilities]
expected = [
'navigation_capability/Navigation',
'differential_mobile_base_capability/DifferentialMobileBase'
]
self.assertEqual(sorted(result), sorted(expected))
call_service(
'/capability_server/stop_capability',
'differential_mobile_base_capability/DifferentialMobileBase')
resp = call_service('/capability_server/get_running_capabilities')
# The list of running capabilities should be empty
self.assertEqual([], resp.running_capabilities)
def test_stop_base_capability(self):
"""
Stopping a base capability should stop all dependent capabilities too.
"""
wait_for_capability_server(10)
call_service('/capability_server/start_capability',
'navigation_capability/Navigation',
'navigation_capability/faux_navigation')
result = []
expected = ['navigation_capability/Navigation',
'differential_mobile_base_capability/DifferentialMobileBase']
count = 0
while count != 10 and sorted(result) != sorted(expected):
rospy.sleep(1)
count += 1
resp = call_service('/capability_server/get_running_capabilities')
result = [x.capability.capability for x in resp.running_capabilities]
self.assertEqual(sorted(result), sorted(expected))
call_service('/capability_server/stop_capability',
'differential_mobile_base_capability/DifferentialMobileBase')
resp = call_service('/capability_server/get_running_capabilities')
# The list of running capabilities should be empty
self.assertEqual([], resp.running_capabilities)
def test_start_stop_dependent_capabilities(self):
call_service('/capability_server/start_capability',
'navigation_capability/Navigation',
'navigation_capability/faux_navigation')
rospy.sleep(6) # Wait for the system to settle
resp = call_service('/capability_server/get_running_capabilities')
result = [x.capability.capability for x in resp.running_capabilities]
if not result:
# Retry, sometimes the system is really slow...
rospy.sleep(6)
resp = call_service('/capability_server/get_running_capabilities')
result = [x.capability.capability for x in resp.running_capabilities]
expected = ['navigation_capability/Navigation',
'differential_mobile_base_capability/DifferentialMobileBase']
assert sorted(result) == sorted(expected), (sorted(result), sorted(expected))
call_service('/capability_server/start_capability',
'minimal_pkg/Minimal',
'minimal_pkg/minimal')
rospy.sleep(1)
call_service('/capability_server/stop_capability',
'minimal_pkg/Minimal')
rospy.sleep(2)
call_service('/capability_server/stop_capability', 'navigation_capability/Navigation')
rospy.sleep(1) # Wait for the system to shutdown, so coverage can work
# fail to call provider with invalid dependent provider
with assert_raises(ServiceException):
call_service('/capability_server/start_capability',
'navigation_capability/Navigation',
'navigation_capability/faux_navigation_invalid_preferred_provider')
def test_start_stop_dependent_capabilities(self):
call_service('/capability_server/start_capability',
'navigation_capability/Navigation',
'navigation_capability/faux_navigation')
rospy.sleep(6) # Wait for the system to settle
resp = call_service('/capability_server/get_running_capabilities')
result = [x.capability.capability for x in resp.running_capabilities]
if not result:
# Retry, sometimes the system is really slow...
rospy.sleep(6)
resp = call_service('/capability_server/get_running_capabilities')
result = [
x.capability.capability for x in resp.running_capabilities
]
expected = [
'navigation_capability/Navigation',
'differential_mobile_base_capability/DifferentialMobileBase'
]
assert sorted(result) == sorted(expected), (sorted(result),
sorted(expected))
call_service('/capability_server/start_capability',
'minimal_pkg/Minimal', 'minimal_pkg/minimal')
rospy.sleep(1)
call_service('/capability_server/stop_capability',
'minimal_pkg/Minimal')
rospy.sleep(2)
call_service('/capability_server/stop_capability',
'navigation_capability/Navigation')
rospy.sleep(1) # Wait for the system to shutdown, so coverage can work
# fail to call provider with invalid dependent provider
with assert_raises(ServiceException):
call_service(
'/capability_server/start_capability',
'navigation_capability/Navigation',
'navigation_capability/faux_navigation_invalid_preferred_provider'
)
def test_start_stop_dependent_capabilities(self):
wait_for_capability_server(10)
call_service('/capability_server/start_capability',
'navigation_capability/Navigation',
'navigation_capability/faux_navigation')
expected = ['navigation_capability/Navigation',
'differential_mobile_base_capability/DifferentialMobileBase']
result = []
count = 0
while count != 10 and sorted(result) != sorted(expected):
rospy.sleep(1)
count += 1
resp = call_service('/capability_server/get_running_capabilities')
result = [x.capability.capability for x in resp.running_capabilities]
assert sorted(result) == sorted(expected), (sorted(result), sorted(expected))
call_service('/capability_server/start_capability',
'minimal_pkg/Minimal',
'minimal_pkg/minimal')
rospy.sleep(1)
call_service('/capability_server/stop_capability',
'minimal_pkg/Minimal')
rospy.sleep(2)
call_service('/capability_server/stop_capability', 'navigation_capability/Navigation')
rospy.sleep(1) # Wait for the system to shutdown, so coverage can work
# fail to call provider with invalid dependent provider
with assert_raises(ServiceException):
call_service('/capability_server/start_capability',
'navigation_capability/Navigation',
'navigation_capability/faux_navigation_invalid_preferred_provider')
