def test_wait_for_services():
c = CapabilitiesClient()
with assert_raises(ValueError):
c.wait_for_services(0.1, ['invalid_service'])
assert c.wait_for_services(0.1) is False
c.establish_bond(0.1)
c._used_capabilities.add('some_pkg/SomeCap')
c.free_capability('some_pkg/SomeCap', 0.1)
def test_client_module(self):
c = CapabilitiesClient()
c.wait_for_services(3)
c.use_capability('minimal_pkg/Minimal', 'minimal_pkg/minimal')
c.use_capability('minimal_pkg/Minimal', 'minimal_pkg/minimal')
c.free_capability('minimal_pkg/Minimal')
with self.assertRaises(CapabilityNotRunningException):
c.free_capability('not_a_pkg/NotACap')
c.shutdown()
def test_use_and_free_dependent_capability(self):
c = CapabilitiesClient()
c.wait_for_services(timeout=3.0)
# Use a cap with dependencies and wait for it to be running
c.use_capability('navigation_capability/Navigation', 'navigation_capability/faux_navigation')
expected = ['navigation_capability/Navigation', 'differential_mobile_base_capability/DifferentialMobileBase']
result = wait_for_result_to_happen(expected, [])
assert sorted(result) == sorted(expected), (sorted(result), sorted(expected))
# Use its dependency and free its dependency, assert it is still there
c.use_capability('differential_mobile_base_capability/DifferentialMobileBase', 'differential_mobile_base_capability/faux_differential_mobile_base')
c.free_capability('differential_mobile_base_capability/DifferentialMobileBase')
expected = []
result = wait_for_result_to_happen(expected, ['navigation_capability/Navigation', 'differential_mobile_base_capability/DifferentialMobileBase'], tries=5)
assert sorted(result) != sorted(expected), (sorted(result), sorted(expected))
# Free it and assert it goes down
c.free_capability('navigation_capability/Navigation')
expected = []
result = wait_for_result_to_happen(expected, ['navigation_capability/Navigation', 'differential_mobile_base_capability/DifferentialMobileBase'])
assert sorted(result) == sorted(expected), (sorted(result), sorted(expected))
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_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_client_module(self):
c = CapabilitiesClient()
c.wait_for_services(3)
c.use_capability('minimal_pkg/Minimal', 'minimal_pkg/minimal')
c.use_capability('minimal_pkg/Minimal', 'minimal_pkg/minimal')
c.free_capability('minimal_pkg/Minimal')
c.free_capability('not_a_pkg/NotACap')
c.shutdown()
def test_client_module(self):
c = CapabilitiesClient()
c.wait_for_services(3)
c.use_capability('minimal_pkg/Minimal', 'minimal_pkg/minimal')
c.use_capability('minimal_pkg/Minimal', 'minimal_pkg/minimal')
c.free_capability('minimal_pkg/Minimal')
c.free_capability('not_a_pkg/NotACap')
c.shutdown()
