def test_Registrations(self):
import rosmaster.exceptions
from rosmaster.registrations import Registrations
types = [Registrations.TOPIC_SUBSCRIPTIONS,
Registrations.TOPIC_PUBLICATIONS,
Registrations.SERVICE,
Registrations.PARAM_SUBSCRIPTIONS]
# test enums
self.assertEquals(4, len(set(types)))
try:
r = Registrations(-1)
self.fail("Registrations accepted invalid type")
except rosmaster.exceptions.InternalException: pass
for t in types:
r = Registrations(t)
self.assertEquals(t, r.type)
self.assert_(not r) #test nonzero
self.failIf('topic1' in r) #test contains
self.failIf(r.has_key('topic1')) #test has_key
self.failIf([k for k in r.iterkeys()]) #no keys
self.assertEquals(None, r.get_service_api('non-existent'))
# Test topic subs
r = Registrations(Registrations.TOPIC_SUBSCRIPTIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.TOPIC_PUBLICATIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.PARAM_SUBSCRIPTIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.SERVICE)
self._subtest_Registrations_services(r)
def test_Registrations(self):
import rosmaster.exceptions
from rosmaster.registrations import Registrations
types = [
Registrations.TOPIC_SUBSCRIPTIONS,
Registrations.TOPIC_PUBLICATIONS, Registrations.SERVICE,
Registrations.PARAM_SUBSCRIPTIONS
]
# test enums
self.assertEquals(4, len(set(types)))
try:
r = Registrations(-1)
self.fail("Registrations accepted invalid type")
except rosmaster.exceptions.InternalException:
pass
for t in types:
r = Registrations(t)
self.assertEquals(t, r.type)
self.assert_(not r) #test nonzero
self.failIf('topic1' in r) #test contains
self.failIf(r.has_key('topic1')) #test has_key
self.failIf([k for k in r.iterkeys()]) #no keys
self.assertEquals(None, r.get_service_api('non-existent'))
# Test topic subs
r = Registrations(Registrations.TOPIC_SUBSCRIPTIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.TOPIC_PUBLICATIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.PARAM_SUBSCRIPTIONS)
self._subtest_Registrations_basic(r)
r = Registrations(Registrations.SERVICE)
self._subtest_Registrations_services(r)
def test_Registrations_unregister_all(self):
import rosmaster.exceptions
from rosmaster.registrations import Registrations
r = Registrations(Registrations.TOPIC_SUBSCRIPTIONS)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
r.register(k, 'node1', 'http://node1:5678')
r.register('topic2', 'node2', 'http://node2:5678')
r.unregister_all('node1')
self.failIf(not r)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
self.failIf(r.has_key(k))
self.assertEquals(['topic2'], [k for k in r.iterkeys()])
r = Registrations(Registrations.TOPIC_PUBLICATIONS)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
r.register(k, 'node1', 'http://node1:5678')
r.register('topic2', 'node2', 'http://node2:5678')
r.unregister_all('node1')
self.failIf(not r)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
self.failIf(r.has_key(k))
self.assertEquals(['topic2'], [k for k in r.iterkeys()])
r = Registrations(Registrations.PARAM_SUBSCRIPTIONS)
r.register('param2', 'node2', 'http://node2:5678')
for k in ['param1', 'param1b', 'param1c', 'param1d']:
r.register(k, 'node1', 'http://node1:5678')
r.unregister_all('node1')
self.failIf(not r)
for k in ['param1', 'param1b', 'param1c', 'param1d']:
self.failIf(r.has_key(k))
self.assertEquals(['param2'], [k for k in r.iterkeys()])
r = Registrations(Registrations.SERVICE)
for k in ['service1', 'service1b', 'service1c', 'service1d']:
r.register(k, 'node1', 'http://node1:5678', 'rosrpc://node1:1234')
r.register('service2', 'node2', 'http://node2:5678',
'rosrpc://node2:1234')
r.unregister_all('node1')
self.failIf(not r)
for k in ['service1', 'service1b', 'service1c', 'service1d']:
self.failIf(r.has_key(k))
self.assertEquals(None, r.get_service_api(k))
self.assertEquals(['service2'], [k for k in r.iterkeys()])
self.assertEquals('rosrpc://node2:1234', r.get_service_api('service2'))
def test_Registrations_unregister_all(self):
import rosmaster.exceptions
from rosmaster.registrations import Registrations
r = Registrations(Registrations.TOPIC_SUBSCRIPTIONS)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
r.register(k, 'node1', 'http://node1:5678')
r.register('topic2', 'node2', 'http://node2:5678')
r.unregister_all('node1')
self.failIf(not r)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
self.failIf(r.has_key(k))
self.assertEquals(['topic2'], [k for k in r.iterkeys()])
r = Registrations(Registrations.TOPIC_PUBLICATIONS)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
r.register(k, 'node1', 'http://node1:5678')
r.register('topic2', 'node2', 'http://node2:5678')
r.unregister_all('node1')
self.failIf(not r)
for k in ['topic1', 'topic1b', 'topic1c', 'topic1d']:
self.failIf(r.has_key(k))
self.assertEquals(['topic2'], [k for k in r.iterkeys()])
r = Registrations(Registrations.PARAM_SUBSCRIPTIONS)
r.register('param2', 'node2', 'http://node2:5678')
for k in ['param1', 'param1b', 'param1c', 'param1d']:
r.register(k, 'node1', 'http://node1:5678')
r.unregister_all('node1')
self.failIf(not r)
for k in ['param1', 'param1b', 'param1c', 'param1d']:
self.failIf(r.has_key(k))
self.assertEquals(['param2'], [k for k in r.iterkeys()])
r = Registrations(Registrations.SERVICE)
for k in ['service1', 'service1b', 'service1c', 'service1d']:
r.register(k, 'node1', 'http://node1:5678', 'rosrpc://node1:1234')
r.register('service2', 'node2', 'http://node2:5678', 'rosrpc://node2:1234')
r.unregister_all('node1')
self.failIf(not r)
for k in ['service1', 'service1b', 'service1c', 'service1d']:
self.failIf(r.has_key(k))
self.assertEquals(None, r.get_service_api(k))
self.assertEquals(['service2'], [k for k in r.iterkeys()])
self.assertEquals('rosrpc://node2:1234', r.get_service_api('service2'))
