def test_get_loaded_files(self):
ls = LaunchServicer()
response_stream = ls.GetLoadedFiles(lmsg.Empty(), DummyContext())
items = [response for response in response_stream]
self.assertEqual(
len(items), 0,
"The list of loaded launch files on startup is not empty!")
def get_loaded_files(self):
request = lmsg.Empty()
response = self.lm_stub.GetLoadedFiles(request, timeout=settings.GRPC_TIMEOUT)
result = []
for loaded_file in response:
args = {arg.name: arg.value for arg in loaded_file.args}
result.append((loaded_file.package, loaded_file.path, args, loaded_file.masteruri, loaded_file.host))
return result
def ResetPackageCache(self, request, context):
result = lmsg.Empty()
reset_package_cache()
return result
def ResetPackageCache(self, request, context):
rospy.logdebug('ResetPackageCache request:\n%s' % str(request))
result = lmsg.Empty()
reset_package_cache()
return result
def reset_package_path(self):
request = lmsg.Empty()
self.lm_stub.ResetPackageCache(request, timeout=settings.GRPC_TIMEOUT)
def test_load_launch(self):
ls = LaunchServicer()
path = ''
args = {}
request_args = True
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='no_file.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('FILE_NOT_FOUND'),
"wrong status code if launch file not exists, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('FILE_NOT_FOUND'),
response.status.error_msg))
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='unknonwn_package',
launch='no_file.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('FILE_NOT_FOUND'),
"wrong status code if package not exists, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('FILE_NOT_FOUND'),
response.status.error_msg))
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='description_example.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('MULTIPLE_LAUNCHES'),
"wrong status code for multiple launch files, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('MULTIPLE_LAUNCHES'),
response.status.error_msg))
self.assertEqual(
len(response.path), 2,
"wrong count of multiple launch files, result: %d, expected: %d" %
(len(response.path), 2))
path = interpret_path(
"$(find fkie_node_manager_daemon)/tests/resources/description_example.launch"
)
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='description_example.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('PARAMS_REQUIRED'),
"wrong status code for request arguments, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('PARAMS_REQUIRED'),
response.status.error_msg))
args = {arg.name: arg.value for arg in response.args}
request_args = False
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='description_example.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code, lmsg.ReturnStatus.StatusType.Value('OK'),
"wrong status code on successful load, result: %d, expected: %d, reported error: %s"
% (response.status.code, lmsg.ReturnStatus.StatusType.Value('OK'),
response.status.error_msg))
response = ls.LoadLaunch(
lmsg.LoadLaunchRequest(package='fkie_node_manager_daemon',
launch='description_example.launch',
path=path,
request_args=request_args), DummyContext())
self.assertEqual(
response.status.code,
lmsg.ReturnStatus.StatusType.Value('ALREADY_OPEN'),
"wrong status code if file is already open, result: %d, expected: %d, reported error: %s"
% (response.status.code,
lmsg.ReturnStatus.StatusType.Value('ALREADY_OPEN'),
response.status.error_msg))
self.assertEqual(
response.path[0], path,
"Wrong returned path in ALREADY_OPEN reply, expected: %s, got: %s"
% (response.path[0], path))
# test loaded file
response_stream = ls.GetLoadedFiles(lmsg.Empty(), DummyContext())
items = [response for response in response_stream]
self.assertEqual(
len(items), 1,
"The count of loaded files after successful load is wrong")
self.assertEqual(
items[0].path, path,
"Wrong reported loaded file path, got: %s, expected: %s" %
(items[0].path, path))
self.assertEqual(
items[0].package, 'fkie_node_manager_daemon',
"Wrong reported loaded package, got: %s, expected: %s" %
(items[0].package, 'fkie_node_manager_daemon'))
self.assertEqual(
items[0].launch, 'description_example.launch',
"Wrong reported loaded launch, got: %s, expected: %s" %
(items[0].launch, 'description_example.launch'))
